Base station, charging station, and/or server for robotic catheter systems and other uses, and improved articulated devices and systems

ABSTRACT

Articulation devices, systems, methods for articulation, and methods for fabricating articulation structures will often include simple balloon arrays, with inflation of the balloons interacting with elongate skeletal support structures so as to locally alter articulation of the skeleton. The skeleton may comprise a simple helical coil or interlocking helical channels, and the array can be used to locally deflect or elongate an axis of the coil under control of a processor. Liquid inflation fluid may be directed so as to pressurize the balloons from an inflation fluid canister, and may vaporize within a plenum or the channels or balloons of the articulation system, with the inflation system preferably including valves controlled by the processor. The articulation structures can be employed in minimally invasive medical catheter systems, and also for industrial robotics, for supporting imaging systems, for entertainment and consumer products, and the like.

CROSS REFERENCE TO RELATED APPLICATIONS

The subject application claims the benefit of U.S. ProvisionalApplication Ser. Nos. 62/400,988, filed Sep. 28, 2016 entitled “HeartValve Therapy Delivery Methods, Devices, And Robotic Catheter Systems”;and 62/401,005, filed Sep. 28, 2016 entitled “Base Station Charger AndServer For Handheld Robotic Catheter Systems And Other Uses, AndImproved Articulated Devices And Systems”; the full disclosures whichare incorporated herein by reference in their entirety for all purposes.

The subject matter of the present application is related to that ofco-assigned U.S. Provisional Patent App. Nos. 62/139,430 filed Mar. 27,2015, entitled “Articulation System for Catheters and Other Uses”;62/175,095 filed Jun. 12, 2015, entitled “Selective Stiffening forCatheters and Other Uses”; 62/248,573 filed Oct. 30, 2015, entitled“Fluid Articulation for Catheters and Other Uses”; 62/263,231 filed Dec.4, 2015, entitled “Input and Articulation System for Catheters and OtherUses”; and 62/296,409 filed on Feb. 17, 2016, entitled “LocalContraction of Flexible Bodies using Balloon Expansion forExtension-Contraction Catheter Articulation and Other Uses”; the fulldisclosures which are also incorporated herein by reference in theirentirety for all purposes.

The subject matter of the present application is also related to that ofco-assigned U.S. patent application Ser. No. 15/080,979, filed Mar. 25,2016, entitled “Fluid Drive System for Catheter Articulation and OtherUses”, and Ser. No. 15/080,949, also filed Mar. 25, 2016, entitled“Fluid-Expandable Body Articulation of Catheters and Other FlexibleStructures”; and 62/400,998, filed Sep. 28, 2016 and entitled “LateralArticulation Anchors For Catheters And Other Uses”; and 62/401,001,filed Sep. 28, 2016 entitled “Arrhythmia Diagnostic And/Or TherapyDelivery Methods, Devices, And Robotic Catheter Systems”; the fulldisclosures which are also incorporated herein by reference in theirentirety for all purposes.

FIELD OF THE INVENTION

In general, the present invention provides structures, systems, andmethods for selectively bending or otherwise altering the bendcharacteristics of catheters and other elongate flexible bodies, thelengths of such bodies, and the like, and also provides improved medicaldevices, systems, and methods. In exemplary embodiments, the inventionprovides balloon articulated catheter systems for repairing and/orreplacing a valve in a heart of a patient. Embodiments of the inventionmay be used to reversibly, locally, and/or globally alter the stiffness(such as to stiffen or reduce the stiffness of) elongate flexible bodiesused for medical and other applications. The invention may include or beused with articulation structures, systems, and methods forarticulation, as well as for controlling and fabricating articulationstructures. In exemplary embodiments the invention provides articulatedmedical systems having a fluid-driven balloon array that can help shape,steer and/or advance a catheter, guidewire, or other elongate flexiblestructure along a body lumen. Also provided are structures forfacilitating access to and/or alignment of medical diagnostic andtreatment tools with target tissues, articulation fluid control systems,and medical diagnostic and treatment related methods. Alternativeembodiments make use of balloon arrays for articulating (or altering thestiffness of) flexible manipulators and/or end effectors, industrialrobots, borescopes, prosthetic fingers, robotic arms, positioningsupports or legs, consumer products, or the like.

BACKGROUND OF THE INVENTION

Diagnosing and treating disease often involve accessing internal tissuesof the human body. Once the tissues have been accessed, medicaltechnology offers a wide range of diagnostic tools to evaluate tissuesand identify lesions or disease states. Similarly, a number oftherapeutic tools have been developed that can help surgeons interactwith, remodel, deliver drugs to, or remove tissues associated with adisease state so as to improve the health and quality of life of thepatient. Unfortunately, gaining access to and aligning tools with theappropriate internal tissues for evaluation or treatment can represent asignificant challenge to the physician, can cause serious pain to thepatient, and may (at least in the near term) be seriously detrimental tothe patient's health.

Open surgery is often the most straightforward approach for gainingaccess to internal tissues. Open surgery can provide such access byincising and displacing overlying tissues so as to allow the surgeon tomanually interact with the target internal tissue structures of thebody. This standard approach often makes use of simple, hand-held toolssuch as scalpels, clamps, sutures, and the like. Open surgery remains,for many conditions, a preferred approach. Although open surgicaltechniques have been highly successful, they can impose significanttrauma to collateral tissues, with much of that trauma being associatedwith gaining access to the tissues to be treated.

To help avoid the trauma associated with open surgery, a number ofminimally invasive surgical access and treatment technologies have beendeveloped. Many minimally invasive techniques involve accessing thevasculature, often through the skin of the thigh, neck, or arm. One ormore elongate flexible catheter structures can then be advanced alongthe network of blood vessel lumens extending throughout the body and itsorgans. While generally limiting trauma to the patient, catheter-basedendoluminal therapies are often reliant on a number of specializedcatheter manipulation techniques to safely and accurately gain access toa target region, to position a particular catheter-based tool inalignment with a particular target tissue, and/or to activate or use thetool. In fact, some endoluminal techniques that are relatively simple inconcept can be very challenging (or even impossible) in practice(depending on the anatomy of a particular patient and the skill of aparticular physician). More specifically, advancing a flexible guidewireand/or catheter through a tortuously branched network of body lumensmight be compared to pushing a rope. As the flexible elongate bodyadvances around first one curve and then another, and through a seriesof branch intersections, the catheter/tissue forces, resilient energystorage (by the tissue and the elongate body), and movement interactionsmay become more complex and unpredictable, and control over therotational and axial position of the distal end of a catheter can becomemore challenging and less precise. Hence, accurately aligning theseelongate flexible devices with the desired luminal pathway and targettissues can be a significant challenge.

A variety of mechanisms can be employed to steer or variably alterdeflection of a tip of a guidewire or catheter in one or more lateraldirections to facilitate endoluminal and other minimally invasivetechniques. Pull wires may be the most common catheter tip deflectionstructures and work well for many catheter systems by, for example,controllably decreasing separation between loops along one side of ahelical coil, braid, or cut hypotube near the end of a catheter or wire.It is often desirable to provide positive deflection in opposeddirections (generally by including opposed pull wires), and in manycases along two orthogonal lateral axes (so that three or four pullwires are included in some devices). Where additional steeringcapabilities are desired in a single device, still more pull wires maybe included. Complex and specialized catheter systems having dozens ofpull wires have been proposed and built, in some cases with each pullwire being articulated by a dedicated motor attached to the proximalend. Alternative articulation systems have also been proposed, includingelectrically actuated shape memory alloy structures, piezoelectricactuation, phase change actuation, and the like. As the capabilities ofsteerable systems increase, the range of therapies that can use thesetechnologies should continue to expand.

Unfortunately, as articulation systems for catheters get more complex,it can be more and more challenging to maintain accurate control overthese flexible bodies. For example, pull wires that pass through bentflexible catheters often slide around the bends over surfaces within thecatheter, with the sliding interaction extending around not only bendsintentionally commanded by the user, but also around bends that areimposed by the tissues surrounding the catheter. Hysteresis and frictionof a pull-wire system may vary significantly with that slidinginteraction and with different overall configurations of the bends, sothat the articulation system response may be difficult to predict andcontrol. Furthermore, more complex pull wire systems may add additionalchallenges. While opposed pull-wires can each be used to bend a catheterin opposite directions from a generally straight configuration, attemptsto use both together—while tissues along the segment are applyingunknown forces in unknown directions—may lead to widely inconsistentresults. Hence, there could be benefits to providing more accurate smalland precise motions, to improving the lag time, and/or to providingimproved transmission of motion over known catheter pull-wire systems soas to avoid compromising the coordination, as experienced by thesurgeon, between the input and output of catheters and other elongateflexible tools.

Along with catheter-based therapies, a number of additional minimallyinvasive surgical technologies have been developed to help treatinternal tissues while avoiding at least some of the trauma associatedwith open surgery. Among the most impressive of these technologies isrobotic surgery. Robotic surgeries often involve inserting one end of anelongate rigid shaft into a patient, and moving the other end with acomputer-controlled robotic linkage so that the shaft pivots about aminimally invasive aperture. Surgical tools can be mounted on the distalends of the shafts so that they move within the body, and the surgeoncan remotely position and manipulate these tools by moving input deviceswith reference to an image captured by a camera from within the sameworkspace, thereby allowing precisely scaled micro-surgery. Alternativerobotic systems have also been proposed for manipulation of the proximalend of flexible catheter bodies from outside the patient so as toposition distal treatment tools. These attempts to provide automatedcatheter control have met with challenges, which may be in-part becauseof the difficulties in providing accurate control at the distal end of aflexible elongate body using pull-wires extending along bending bodylumens. Still further alternative catheter control systems apply largemagnetic fields using coils outside the patient's body to directcatheters inside the heart of the patient, and more recent proposalsseek to combine magnetic and robotic catheter control techniques. Whilethe potential improvements to control surgical accuracy make all ofthese efforts alluring, the capital equipment costs and overall burdento the healthcare system of these large, specialized systems is aconcern.

In light of the above, it would be beneficial to provide improvedarticulation systems and devices, methods of articulation, and methodsfor making articulation structures. Improved techniques for controllingthe flexibility of elongate structures (articulated or non-articulated)would also be beneficial. It would be particularly beneficial if thesenew technologies were suitable to provide therapeutically effectivecontrol over movement of a distal end of a flexible guidewire, catheter,or other elongate body extending into a patient body. It would also bebeneficial if the movement provided by these new techniques would allowenhanced ease of use; so as to facilitate safe and effective access totarget regions within a patient body and help achieve desired alignmentof a therapeutic or diagnostic tool with a target tissue. It would alsobe helpful if these techniques could provide motion capabilities thatcould be tailored to at least some (and ideally a wide) range ofdistinct devices.

In light of the above, it would also be beneficial to provide new andimproved devices, system, and methods for driving elongate flexiblestructures. It would also be beneficial to provide improved medicaldevices, systems, and methods, particularly those that involve the useof elongate flexible bodies such as catheters, guidewires, and otherflexible minimally invasive surgical tools. It would be desirable totake advantage of recent advances in microfluidic technologies andfabrication techniques to provide fluid drive systems having arelatively large number of fluid channels that could be used to controlcatheters and other elongate flexible structures within a patient, orthat could otherwise be used to accurately control flow to and/or withina multi-lumenal shaft, ideally without having to resort to large,expensive systems having large numbers of motors or the like.

In light of the above, it would further be beneficial to provide new andimproved articulation devices, system, and methods for use with elongateflexible structures. It would also be beneficial to provide improvedmedical devices, systems, and methods, particularly those that involvethe use of elongate flexible bodies such as catheters, guidewires, andother flexible minimally invasive surgical tools. It would be desirableif these improved technologies could offer improved controllability overthe resting or nominal shape of a skeleton of a flexible body, and stillallow the overall body to bend (safely and predictably) against softtissues, ideally without requiring the use of very expensive components,large numbers of parts, and/or exotic materials.

BRIEF SUMMARY OF THE INVENTION

The present invention generally provides articulation devices, systems,methods for articulation, along with methods for fabricatingarticulation structures. The articulations structures described hereinwill often include simple balloon arrays, with inflation of the balloonsinteracting with elongate skeletal support structures so as to locallyalter articulation of the skeleton. The balloons can be supported by asubstrate of the array, with the substrate having channels that candirect inflation fluid to a subset of the balloons. The articulationarray structure may be formed using extrusion, planar 3-D printing,and/or laser micromachining techniques. The skeleton may compriseinterlocking helical channels, a simple helical coil, or a printedtubular structure, and the array can be used to locally deflect orelongate an axis of the frame under control of a processor. Liquidinflation fluid may be directed from an inflation fluid canister so asto pressurize the balloons, and may vaporize within a plenum or thechannels or balloons of the articulation system, with the inflationsystem preferably including valves controlled by the processor. Aflexible vacuum chamber surrounding the balloons may ensure fluidintegrity. The articulation structures can be employed in minimallyinvasive medical catheter systems, and also for industrial robotics, forsupporting image capture devices, for entertainment and consumerproducts, and the like. The invention also provides new medical devices,systems, and methods for diagnosing and/or treating a valve of a heart.The invention may be used to align a diagnostic or treatment tool with amitral or other valve. As the articulation balloons can generatearticulation forces at the site of articulation, the movement of thearticulated catheter within the beating heart may be better controlledand/or provide greater dexterity than movements induced by transmittingarticulation forces proximally along a catheter body that winds througha tortuous vascular pathway.

In a first aspect, the invention provides a catheter system comprisingan elongate catheter body having a proximal end and a distal end anddefining an axis therebetween. The catheter body has an articulatedportion adjacent the distal end. A proximal housing can be coupleablewith the proximal end of the catheter body, and the proximal housingwill often be sized for movement by a hand of a user. The proximalhousing may support an articulation drive system configured to effectarticulation of the articulated portion, and a processor coupled to thedrive system so as to transmit drive signals thereto in response tocommands input by the user. The housing may also support a batterycoupled to the processor and to a charge receiving coupler. The cathetersystem may also include a base station having a receptacle configured toreceive the housing. The base station may have a charge providingcoupler positioned so as to couple with the charge receiving couplerwhen the housing is in the receptacle.

Optionally, the charge receiving coupler may comprise an inductivecharge receiving coupler, and the charge providing coupler may similarlycomprise an inductive charge providing coupler. The base station mayfurther comprise a server coupleable with a network. The processor ofthe proximal housing may be coupleable with the server so as to transmitdata between the network and the processor. The server of the basestation may include or be coupled with a first wireless communicationmodule, and the proximal housing may contain a second wirelesscommunication module configured to communication with the first wirelesscommunication module so as to transmit the data.

In general, the catheter may have an ID tag embodying machine-readablecatheter identity data. The processor in the housing may transmit IDdata, in response to the catheter identity data of the tag, to theserver when the server is coupled with the processor. The server mayobtain approval data from the network, and the processor can inhibit useof the catheter absent the approval data.

A preferred option is to further include a sterile barrier, typicallybetween the base station and the proximal housing, with the sterilebarrier often configured for maintaining sterile separation between thebase station and the proximal housing when the housing is in thereceptacle.

As a general feature, the articulated portion may include an array ofarticulation balloons.

In another aspect, the invention provides an articulated systemcomprising an elongate helical frame having a proximal end and a distalend with an axis therebetween. The helical frame includes a first axialregion having a first plurality of loops and a second axial regionhaving a second plurality of loops. A plurality of actuators is coupledto the helical frame so as to alter associated separations betweenadjacent loops. The first loops having a first helical wind orientationsuch that when the actuators increase the separations between the firstloops, the frame along the first region twists about the axis in a firsttwist orientation. The second loops have a second helical windorientation opposite the first wind orientation such that when theactuators increase the separations between the second loops, the framealong the second region twists about the axis in a second twistorientation opposite the first twist orientation.

In another aspect, the invention provides a manifold for articulating anelongate body. The body has an array of articulation balloons, and themanifold comprises a liquid inflation fluid source and a gas inflationfluid source. A fluid supply system can be configured to couple thefluid sources to the body so as to selectably direct liquid inflationfluid from the liquid fluid source to at least some of the balloons, andso as to direct gas inflation fluid from the gas source to at least someof the balloons.

Optionally, the fluid supply system may comprise a processor, and atleast one fluid channel of the system may contain both gas inflationfluid and liquid inflation fluid. The processor may be configured toalter relative amounts of the gas inflation fluid and liquid inflationfluid in the channel in response to a command to change a compliance ofa subset of the balloons in communication with the channel. In someembodiments, the system may direct only gas or liquid to some or all ofthe inflation channels included in a multi-lumen articulatable body.

In another aspect, the invention provides a manifold for articulating anelongate body, the body having an array of articulation balloons. Themanifold comprises (or be configured to receive) a canister having afirst inflation fluid, and a plenum containing a deformable diaphragmwith a first side and a second side. The manifold may be configured sothat, in use, a second inflation fluid will be disposed along the secondside. A pressure control valve may couple the canister to the plenumalong the first side of the diaphragm so as to control a pressure of thefirst and second inflation fluids in the plenum. A plurality ofinflation fluid control valves can be configured to couple the balloonsto the plenum along the second side of the diaphragm so as to selectiveinflate the balloons with the second inflation fluid.

Optionally, the body comprises a catheter body, and the first inflationfluid comprises a gas (such as N2O) and the second inflation fluidcomprises a liquid (such as saline). In some embodiments, the manifoldmay receive a coupler of the catheter along a receptacle surface of amanifold plate. The inflation control valves may be disposed along theedge of the plate, and a surface opposite the receptacle surface may berecessed relative the edge of the plate so as to decrease a length ofpressure sensing channels extending between the recessed and fluidinflation channels of the inflation fluid supply system.

In general, a first plurality of the actuators can be coupled with thefirst plurality of loops so as to alter the associated separations and alength of the fist region. A second plurality of the actuators can becoupled with the second plurality of loops so as to alter the associatedseparations and a length of the second region.

Optionally, the first actuators may be coupled together to be actuatedas a first subset of the actuators, and the second actuators may becoupled together to be actuated as a second subset of the actuators. Thefirst actuators and the first region of the frame may be included in afirst axial segment of the articulated system, and the second actuatorsand the second region of the frame may be included in a second axialsegment of the articulated system. The first and second segments may beindependently articulatable by actuating the first and second subsets soas to provide a desired combined twist in response to a twist command ata total length of the first and second regions.

Alternatively, the first actuators can be coupled together with thesecond actuators to be actuated as a first subset of the actuators. Thefirst actuators and the first region of the frame and the secondactuators and the second region of the frame may be included together ina first axial segment of the articulated system. The first segment canbe articulatable by actuating the first and second subsets together sothat the twist of the first region counteracts the twist of the secondregion during changes in length of the segment.

A variety of arrangements may be used to take advantage of therotational/axial coupling of these helical frame structures. Forexample, a first articulated segment can be offset from the first andsecond regions, the first articulated segment being laterallyarticulatable, independently of the first and second regions, in a firstlateral orientation and in a second lateral orientation. The firstsegment may also be laterally articulatable in a second lateralorientation transverse to the first lateral orientation. Optionally, asecond axial segment can be offset from the first segment and the firstand second regions. The second segment may be articulatable in third andfourth transverse lateral orientations, allowing the system to have 6degrees of freedom including twisting about the axis.

Preferably, the actuators comprise articulation balloons. The helicalframe and actuators may be included in a flexible catheter bodyconfigured to be introduced into a patient body.

In many embodiments, the elongate body comprises a catheter body. Anumber of features may, independently or in combination, enhance thesafe and accurate use of such catheters. The catheter body can include askeleton having pairs of interface regions with offsets therebetween,the balloons typically being disposed between the interface regions ofthe pairs. Preferably, the skeleton comprises a helical member, theballoons being supported by the member and the offsets between theinterface pairs extending primarily axially and anglingcircumferentially, often in correlation with a pitch of the helicalmember. Advantageously, a sheath can be sealed around the balloons so asto form a pressure chamber (ideally in the form of a vacuum chamber).The chamber can be operatively coupled to a fluid source so as toinhibit transmission of the liquid from the source in response todeterioration of a vacuum within the chamber. Typically, the balloonsare included in an array of balloons and are mounted to a substrate. Thesubstrate can have channels providing fluid communication between thefluid source and the balloons. The substrate can optionally comprise amulti-lumen shaft, with some substrate shafts being helical, and othersextending coaxially with the frame.

As one of a number of features (that are not tied to any specificembodiment), the fluid source will often include a canister, theexemplary canister being a single-use canister having a frangible seal,preferably containing less than 10 oz. of the liquid (and often lessthan 5 oz., with many containing less than 1 oz). The liquid oftencomprises a relatively benign cryogen such as N2O. The liquid can bedisposed in the canister at a canister pressure, with the canisterpressure generally being higher than a fully inflated balloon pressureso that no pumps or the like are needed to transfer the liquid from thecanister to the balloons. The liquid may, when at body temperature,vaporize into the inflation gas, with the vaporization typicallyoccurring at a vaporization pressure that is less than the canisterpressure and more than the fully inflated balloon pressure. Note,however, that the balloon pressure may approach or even exceed thecanister pressure, for example, when the valves are closed and thearticulated structure is subjected to sufficient environmental pressureto compress a fully inflated balloon. While the enthalpy of vaporizationmay result in localized cooling along the system, in many embodiments notherapeutic cooling of tissues or other structures may be provided, andmuch or all of the liquid may be vaporized prior to the inflation fluidreaching the balloon(s). Other embodiments may make use of a portion ofthe liquid from the source for cryogenic cooling (typically near adistal end of the articulated structure), but will often provide aseparate cryogenic cooling channel along the articulated body for suchcooling so as to improve articulation response, though such cooling maymake use of a separate cooling fluid supply canister than that of thearticulation system, with that canister typically containing a largerquantity of the same (or a different) cryogen.

Independent of the specific embodiment, one or more of a number ofdifferent features can be provided to enhance functionality. The fluidsupply often maintains the liquid with a pressure of over 40 atm., withthe fluid supply optionally having a heater to keep the canister at arelatively constant temperature and pressure during use of the system. Afirst valve can be disposed between the fluid source and the firstballoon, and a second valve can be disposed between the fluid source andthe second balloon. The first and second valves can be configured toindependently transmit minimum increments of 50 nl or less of theliquid, with the flowing cooling fluid often remaining liquid till ittraverses a throat of the valve. A third valve can be disposed betweenthe first balloon and a surrounding atmosphere, and a fourth valve canbe disposed between the second balloon and the surrounding atmosphere.The third and fourth valves can be configured to independently transmitat least 0.1 scc/s of the gas. Including all four such valves in thesystem may facilitate independent pressure control over two balloons (ortwo subsets of balloons, with each subset being inflated using a commoninflation lumen), with additional inflation and deflation valves foradditional balloons (or subsets of balloons). Optionally, the minimumliquid increment for inflation may be 25 nl (or even 15 nl) or less,while the minimum gas flow for deflation may be 0.5 scc/s (or even 1scc/s) or more. The system may employ multi-way valves that can be usedto control both inflation fluid flowing into the balloon and deflationfluid exhausted from the balloon, with accuracy of control (despite thedifferent inflation and deflation flows) being maintained by differingvalve throats, by differing orifices or other flow restricting devicesadjacent the valve(s), by proportional flow control of sufficient range,and/or by a sufficiently rapid valve response rate. Apressure-controlled plenum can be disposed between the fluid source andthe first and second balloon, or the liquid may otherwise vaporize tothe gas before the valve so that none of the liquid transits a valvesbetween the plenum and the balloons.

Optionally, the elongate body comprises a catheter body, and the distalend is configured for insertion into a patient. The chamber can flexlaterally with the catheter body, and a pressure sensing lumen mayextend proximally from the chamber toward the proximal end. The balloonscan be supported by and/or mounted on a substrate, and the substrate cancontain a plurality of lumens for inflating the balloons along with thepressure sensing lumen. An exemplary substrate comprises a multi-lumenshaft, the balloons having balloon walls extending around the shaft.

Any of a number of features can be included to enhance the functionalityof the chamber. Optionally, a vacuum source may be in fluidcommunication with the chamber so as to reduce a pressure of thechamber, so that the chamber comprises a vacuum chamber. The elongatebody will preferably remain flexible while the chamber is under avacuum, with the vacuum typically being from a few inches of mercury tohalf an atmosphere or more. A fluid control system having a sensor canbe coupled with the chamber, and a shut-off valve can be disposedbetween an inflation fluid source and the balloons. The shut-off valvecan inhibit inflation fluid flow to the balloons in response to signalsfrom the sensor indicating that the vacuum is degrading, as such signalsmay be associated with a leak of the inflation fluid, a leak of theouter sheath, a leak of an inner sheath to which the outer sheath issealed, a leak of a proximal and/or distal seal of the chamber, or thelike. Hence, the use of the chamber can significantly enhance safety andserve as a fault-detection system that identifies and preventsundesirable or dangerous leakage, thereby facilitating (for example) useof gas as an inflation fluid for catheters or the like.

Advantageously, the controlled stiffness provided by a balloon array canbe varied along a length of a catheter or other flexible structure, canbe varied circumferentially (so as to provide differing stiffness indiffering lateral bending orientations), and/or may be modulated so asto provide any of a plurality of different local or global stiffnesses,and/or to provide a desired stiffness anywhere within a continuousrange. For example, the skeleton may have a first axial segment and asecond axial segment, and the pairs of offsets may be distributedaxially along the first and second axial segments. Selectivelyincreasing or decreasing inflation of a first subset of the balloonsdisposed along the first segment may be used to inhibit or facilitatechanges to the offsets along that first segment so as to selectivelyincrease or decrease a lateral bending stiffness of the first segment(respectively). The second segment stiffness (and/or a stiffness of athird, fourth, or other segments) may be independently altered. Asanother example, the skeleton may have a first lateral bendingorientation and a second lateral bending orientation, and the pairs ofoffsets may be distributed circumferentially along the first and secondlateral bending orientations. Selectively increasing or decreasinginflation pressure of a first subset of the balloons disposed along thefirst lateral bending orientation can inhibit or facilitate changes tothe offsets along the first lateral bending orientation so as toselectively increase or decrease a lateral bending stiffness in thefirst lateral bending orientation, respectively, while alteringinflation of second, third, or optionally fourth subsets of offsets maysimilarly alter lateral bending stiffness along second, third, or fourthlateral orientations (with opposed orientations often being coupled).

A number of different approaches may be employed to provide control overstiffness. The skeleton and array may be configured so that decreasingan inflation pressure of a first subset of balloons increases a lateralbending stiffness of the skeleton. For example, when the skeleton is inthe form of a helical coil that is biased to a straight configurationhaving direct loop/loop engagement, the first subset of balloons mayhave balloon walls positioned between apposed interface regions ofadjacent loops, so that inflation of the balloons may locally weaken acolumn strength of the skeleton. More specifically, the loops can bebiased to compress and deflate the balloons, so that axial forces aretransmitted between loops by solid materials of the loops and balloonwalls when the balloons are fully deflated, thereby providing a firstlateral stiffness. In contrast, axial forces may be transmitted by fluidpressure within the balloons when the balloons are partially inflated soas to provide a second lateral stiffness that is lower than the firstlateral stiffness.

Alternatively, increasing an inflation pressure of a first subset ofballoons may increase a lateral bending stiffness of the skeleton. Forexample, the interface regions of the pairs may be oriented radially,and the first subset of balloons may span the pairs of interfacesurfaces and may radially engage the interface surfaces when the firstsubset of balloons are inflated. The fluid pressure of the inflatedballoons can thereby urge the inflated balloons against the interfaceregions so as to inhibit changes in the associated offsets. As anotherexample, the first subset of balloons may comprise a pair of opposedballoons disposed in a channel of the skeleton with a flange of theskeleton between the opposed balloons. The offsets may compriseseparations between apposed surfaces of the flange and the channel, andincreasing inflation pressure of the apposed balloons may increase astiffness of the position of the flange within the channel, and hencethe overall lateral bending stiffness of the skeleton. Advantageously,the flange and the channel may comprise helical structures engaged by aplurality of opposed pairs of balloons, and the offsets may extendprimarily axially, and may angle circumferentially with the pitch of thehelical structures.

A number of features may be provided to enhance functionality of thecatheters provided herein, many of which are identified in the precedingand following paragraphs. As another example, an unarticulated flexibleproximal body portion of the catheter may be disposed between theproximal end and the balloon array. Fluid channels can span the proximalbody portion, but may not provide control over a shape (and optionally,may not even allow control over stiffness) of that portion. This canhelp keep the complexity and size of the system down, with anyarticulation functionality being concentrated along a distal portion andthe proximal portion being configured to flex to follow a body lumen orthe like.

In a related aspect, the invention provides a method comprisingselectively inflating a first subset of balloons, the balloons includedin an array of balloons supported by a helical skeleton. The array isdistributed axially and circumferentially about the skeleton. Theinflation of the first subset inducing a first change in the shapeand/or stiffness of the helical skeleton. A second subset of theballoons is selectively inflated, the inflation of the second subsetinducing a second change in the shape and/or stiffness of the helicalskeleton. The second change in shape and/or stiffness is offset axiallyand/or circumferentially from the first change.

Having processor-controlled valves is an optional feature of the systemsand devices described herein, and any of a range of refinements may beincluded to further enhance capabilities of the system. Rather thanhaving to resort to heavy and complex motors and pumps, by using asimple fluid source (such as a pre-pressurized canister or the like) andprocessor controlled valves (optionally including at least 8, 16, 32, oreven 64 valves), the system can control shape and/or stiffness of anelongate flexible system with large number of degrees of freedom. Wherea processor is provided, a plurality of pressure sensors may couple someof the channels with the processor, the processor configured to actuatethe valves so as to control pressure within the subsets of balloons.With or without processor controlled valves, another optional feature isthat the articulation devices may have balloon arrays with at least 9,18, 36, 72, or even 108 balloons. Where the articulated catheter has anouter cross-sectional diameter, the balloon array may have an axialdensity of at least 3, 4, 6, 8, or even 9 balloons per diameter of axiallength to provide, for example, a desirable bend capability.

The structures described herein will often include simple balloonarrays, with inflation of the balloons interacting with elongateskeletal support structures so as to locally alter articulation of theskeleton. The balloons can be mounted to a substrate of the array, withthe substrate having channels that can direct inflation fluid to asubset of the balloons. The skeleton may comprise a simple helical coil,and the array can be used to locally deflect or elongate an axis of thecoil under control of a processor. Inflation fluid may be directed tothe balloons from an inflation fluid reservoir of an inflation system,with the inflation system preferably including valves controlled by theprocessor. Such elongate flexible articulation structures can beemployed in minimally invasive medical catheter systems, and also forindustrial robotics, for supporting imaging systems, for entertainmentand consumer products, and the like. As the articulation array structuremay be formed using simple planar 3-D printing, extrusion, and/ormicromachining techniques, the costs for producing structures havinglarge numbers of kinematic degrees of freedom may be much, much lowerthan those associated with known powered articulation techniques.

The devices, systems, and methods described herein can selectively,locally, and/or reversibly alter the bend characteristics of an elongatebody. Bending of an elongate body is addressed in detail herein, andsome of the technologies described herein are also suitable for alteringthe stiffness along an elongate catheter body, with the stiffness oftenbeing altered by inflation of one or more balloons. A number ofdifferent stiffening approaches may be employed. Optionally, inflationof a balloon can induce engagement between the balloon and the loops ofa helical, cut-tube, braided, or other elongate flexible skeleton, sothat the balloon may act as a brake or latch to inhibit flexing. Theballoon will often be eccentrically mounted relative to the skeleton,and may be included in a balloon array. Selective inflation of a subsetof the balloon array can selectively and locally increase axialstiffness of the overall body. In other embodiments, modulating aballoon inflation pressure can allow the balloon to variably counteracta compressive force of a helical coil or other biasing structure,effectively modulating the stiffness of an assembly locally adjacent theballoon. In still other embodiments, independently modulating pressureof two opposed balloons can be used to both impose a bend or elongationand to modulate a stiffness in at least one orientation. Hence,stiffening and bending or elongation balloons can be combined, usingeither separate balloon arrays or a multifunctional array havingdiffering types of balloons.

The balloons can be configured so that inflation of the balloons will,in use, alter a bending state of the articulatable body. Thearticulatable body may include six or more, nine or more, or even 12 ormore balloons, optionally having multiple segments with 12 or moreballoons each, and typically comprises a catheter but may alternativelycomprise an industrial continuum robotic structure, a consumer orentertainment device, or the like. Optionally, a first subset of theballoons is distributed along a first loop and a second subset of theballoons is distributed along a second loop; a plurality of additionalsubsets may be distributed along other loops. In those or otherembodiments, a third subset of the balloons can be offset from the axisand aligned along a first lateral bending orientation, and a fourthsubset of the balloons can be offset from the axis and aligned along asecond lateral bending orientation offset from the axis and from thefirst lateral orientation. The ports associated with the third subset ofballoons may be in fluid communication with a first lumen of the shaft,and the ports associated with the fourth subset of balloons may be influid communication with a second lumen of the shaft. The third andfourth subsets will often include balloons of the first, second, andother subsets, and yet another subset of the balloons can be offset fromthe axis and aligned along a third lateral orientation offset from thefirst and second lateral orientations.

In most embodiments, the balloons define an M×N array, with M lateralsubsets of the balloons being distributed circumferentially about theaxis, each of the M lateral subsets including N balloons aligned alongan associated lateral bending orientation. For example, M may be threeor four, so that there are three or four lateral subsets of balloonsdistributed about the axis of the articulatable body (the centers of thesubsets optionally being separated by 120 or 90 degrees). Note thatthere may be some coupling between an axial elongation state of anarticulated segment and the lateral bending orientations, for example,with the helical coil unwinding slightly when the segment increases inlength, so that a line connecting the centerlines of the N balloons maycurve or spiral slightly along the axis in at least some configurationsof the segment (rather than the N balloons always being exactly inalignment parallel to the axis). The ports associated with the balloonsof each of the M lateral subsets may provide fluid communication betweenN balloons and an associated lumen, so that each of the lateralorientations is associated with (often being inflated and/or deflatedvia) a particular lumen of the shaft. The array will often comprise afirst array extending along a first segment of the articulatable body.The first segment can be configured to be driven in two, three, or moredegrees of freedom by fluid transmitted along the lumens associated withthe M lateral subsets of the first array. A second segment of thearticulatable body can also be provided, typically axially offset fromthe first segment. The second segment can have a second array and can beconfigured to be driven in a plurality of degrees of freedom by fluidtransmitted along lumens of the shaft associated with the second array,which will often be separate from those of the first array.Articulatable bodies may have from 1 to 5 independently articulatablesegments or more, with each segment preferably providing from one tothree degrees of freedom, each segment often being configured to haveconsistent bend characteristics and/or elongation between its proximalend and distal end, but the different segments being driven to differentbend and/or elongation states.

In many embodiments, the balloon walls comprise a non-compliant balloonwall material, although semi-compliant wall materials may be used, withthe balloons often being small enough and having sufficient thickness toallow pressures beyond those used in larger balloons, often includingpressures above 20 atm., 30 atm, or even 40 atm. Preferably, at leastsome of the balloons comprise a continuous balloon wall tube sealinglyaffixed around the shaft at a plurality of seals. The seals can beseparated along the shaft axis so that the tube defines the balloonwalls of the plurality of balloons. The balloon wall tube can have aplurality of balloon cross-section regions interleaved with a pluralityof seal cross-section regions, the balloon cross-section regions beinglarger than the seal cross-section regions to facilitate fluid expansionof the balloons away from the shaft. Optionally, a reinforcement bandcan be disposed over the balloon adjacent the seal so as to inhibitseparation of the balloon from the shaft associated with inflation ofthe balloon. Suitable reinforcement bands may comprise a metal structuresimilar to a marker band that is swaged over the balloon tube and shaftalong the seal, a fiber that is wound on, or the like. Typically, anelongate structural skeleton will support the multi-lumen shaft, theskeleton having pairs of interface regions separated by axial offsets,the offsets changing with flexing of the skeleton, wherein the balloonsare disposed between the regions of the pairs.

Optionally, the substrates of the system provided herein may have firstand second opposed major surfaces and a plurality of layers extendingalong the major surfaces. The channel system can be sealed by bondinglayers of the substrate together. The substrate can be curved in acylindrical shape, for example, by rolling a substrate/balloon assemblyafter it has been fabricated in a planar configuration. A plurality ofvalves can be disposed along the channels so as to provide selectivefluid communication between the proximal end and the balloons.Optionally, the balloons can have balloon walls that are integral with afirst layer of the substrate, such as by blowing at least a portion of ashape of the balloon from the layer material.

Alternatively, the substrate may comprise a helical multi-lumen shaft.The balloon array optionally comprises an M×N array of balloonssupported by the substrate, with M being three or four such that 3 orfour subsets of balloons are distributed circumferentially about theaxis. Each of the M subsets can aligned along an associated lateralorientation offset from the axis. N may comprise 2, such that each ofthe M subsets includes two or more axially separated balloons.

As a general approach, the shaft axis can be straight during the sealingof the shaft within the lumen of the balloon tube. Hence, the shaft maybe bent with the balloon tube to form a helical shaft. Alternatively,the shaft may be slid into the lumen of the balloon tube after bendingthe shaft in some embodiments.

The loops of the skeletons or structural frames described herein canhave proximal interface regions and distal interface regions. Theballoons may comprise expandable bodies, and the balloons that arebetween loops may be disposed between a distal interface of the firstassociated loop and a proximal interface of the second associated loop,the proximal and distal interfaces defining pairs of interfaces andhaving offsets therebetween. The balloons may optionally be mounted overa third loop of the coil between the first and second loops, or on anadditional helical structure having loops between the loops of thehelical coil. The helical coil may be included in a skeleton of thearticulation system.

The substrate may comprise a flexible multi-lumen shaft or tubular body,optionally including an extruded polymer multi-lumen tube with thechannels being defined by the extruded lumens together withmicromachined radial ports; the multi-lumen tubular body ideally bendingto follow a helical curve. The skeleton may be integrated into such amulti-lumen helical body, disposed within such a multi-lumen helicalbody, or interleaved with such a multi-lumen helical body. The actuationarray may also include a plurality of fluid-expandable bodiesdistributed across and/or along the substrate. The expandable bodies canbe coupled with associated pairs of the interfaces, and the channels canprovide fluid communication between the expandable bodies and the fluidsupply system so as to facilitate selective inflation of a subset of theexpandable bodies. Advantageously, the expandable bodies can beoperatively coupled to the offsets so that the selective inflationalters articulation of the skeleton adjacent the subset.

The skeleton may comprise a tubular series of loops, such as when theskeleton is formed from a helical coil, a braid, a hypotube or othermedical-grade tubular material having an axial series of lateralincisions or openings so as to provide more lateral flexibility than acontinuous tube would have, or the like. Each pair of interfaces maycomprise, for example, a first associated surface region of a firstassociated loop and a second associated surface region of a secondassociated loop adjacent the first loop, so that inflation of theexpandable bodies can alter flexing of the skeleton between the loops.Note that expandable bodies that are coupled to a pair of interfaces mayoptionally be coupled to only the pair of interfaces (so that inflationof that structure does not largely alter flexing of the skeleton betweenother loops), but that in other embodiments the expandable body may becoupled with not only the pair of loops but with one or more additionalloops so that flexing of the skeleton may be altered over an axialportion extending beyond the pair. As an example, an elongate balloonmay extend axially along an inner or outer surface of several loops, sothat when the balloon is inflated bending of the coil axis along thoseloops is inhibited.

Where at least some of the expandable bodies or balloons are coupledwith pairs of interfaces, the first interfaces of the pairs mayoptionally be distally oriented and the second interfaces of the pairsmay be proximally oriented, with the precise orientation of theinterfaces optionally angling somewhat per a pitch of a helical framestructure. The relevant expandable bodies can be disposed axiallybetween the first and second interfaces. Expansion of each of theseexpandable bodies may urge the associated loops of such pairs apart,often so that the skeleton adjacent the associated first and secondloops bends laterally away from the expanded balloon. A lateralorientation of the bend(s) relative to the skeletal axis may beassociated with the location of the expandable bodies relative to thataxis. A quantity or angle, an axial location, and/or a radius of thearticulation or bend imposed by any such inflation may be associatedwith characteristics of the expandable body or bodies (and theassociated changes in offset they impose on the skeleton due toinflation), with characteristics of the skeleton, with location(s) ofthe expandable body or bodies that are expanded, and/or with a numberand density of the bodies expanded. More generally, bend characteristicsmay be selected by appropriate selection of the subset of expandablebodies, as well as by the characteristics of the structural componentsof the system.

At least some expandable bodies or balloons of the array (or of anotherseparate articulation array) may be mounted to the skeleton or otherwiseconfigured such that they do not force apart adjacent loops to imposebends on the axis of the skeleton. In fact, some embodiments may have nofluid-expandable structure that, upon expansion or deflation but withoutan external environmental force, induces bending of the skeleton axis atall. As an optional feature, one or more of the expandable bodies orballoons of the actuation arrays described herein may optionally be usedto locally and reversibly alter strength or stiffness of the skeleton,optionally weakening the skeleton against bending in a lateralorientation and/or at a desired axial location. In one particularexample, where the skeleton comprises a resilient helical coil in whicha pair of adjacent coils are resiliently urged against each other by thematerial of the coil, a balloon (or set of balloons) disposed axiallybetween one pair of loops of the coil (or a set of loops) may beinflated to a pressure which is insufficient to overcome the compressiveforce of the coil, but which will facilitate bending of the coil underenvironmental forces at the inflated pair (or pairs). More generally,inflation of a subset of balloons may locally weaken the coil so as topromote bending under environmental forces at a first location, andchanging the subset may shift the weak location (axially and/orcircumferentially) so that the same environmental stress causes bendingat a different location. In other embodiments, the interfaces may, forexample, include a first pair, and a first interface of the first pairmay be radially oriented. Similarly, a second interface of the firstpair may be radially oriented, and a first expandable body may beradially adjacent to and extend axially between the first and secondinterfaces of the first pair so that expansion of the first expandablebody axially couples the first expandable body with the first and secondinterfaces of the first pair. This axial coupling may result in thefirst expandable body supporting the relative positions of theinterfaces of the pair, inhibiting changes to the offset between theinterfaces of the first pair and helping to limit or prevent changes inbend characteristics of the axis of the skeleton adjacent the first pairwhen the expandable body is expanded. Advantageously, if such anexpandable body is expanded when the axis is locally in a straightconfiguration, the expandable body may prevent it from bending; if suchan expandable body is expanded when the axis is locally in a bentconfiguration, it may prevent the axis from straightening.

In any of the articulation systems described above, the pairs mayinclude a first pair of the interfaces offset laterally from the axisalong a first lateral axis. An associated first expandable body may bedisposed between the interfaces of the first pair. In such embodiments,a second expandable body may be disposed between a second pair of theinterfaces that is offset laterally from the axis along a second lateralaxis transverse to the first lateral axis. Hence, inflation of thesecond expandable body may bend the axis of the skeleton away from thesecond lateral axis and inflation of the first lateral body may bend theaxis of the skeleton away from the first lateral axis. In otherembodiments, a second pair of the interfaces may be offset laterallyfrom the axis and may be opposed to the first lateral axis and to thefirst pair so that the axis extends between the first pair and thesecond pair, such that inflation of a second expandable body disposedbetween the second pair together with the first expandable body urgesthe skeleton to elongate axially. In still other embodiments, a secondexpandable body may be disposed between a second pair of the interfaces,with the second pair axially offset from the first pair and sufficientlyaligned along the first lateral axis with the first pair so thatinflation of the first expandable body urges the skeleton to bendlaterally away from the first lateral axis, and inflation of the secondexpandable body together with the first expandable body urges theskeleton to bend laterally further away from the first lateral axis. Ofcourse, many embodiments will include multiple such combinations ofthese structures and capabilities, with a plurality of pairs being alonglaterally offset, a plurality being opposed relative to the axis, and/ora plurality being axially aligned so that by inflating appropriatesubsets of the expandable bodies (as disposed between associatedpluralities of pairs of interface surfaces or structures), the axis canbe bent laterally in a single orientation by different incrementalamounts, the skeleton can be axially lengthened by different incrementalamounts, and/or the axis can be bent laterally in a plurality ofdifferent lateral orientations by differing incremental amounts, allsequentially or simultaneously. Combinations of any two or more of thesedesired structures and capabilities can be provided with the relativelysimple structures described herein.

Optionally, the expandable bodies may comprise non-compliant balloonwalls, and each expandable body can have an expanded configurationdefined by expansion with a pressure within a full expansion pressurerange, and an unexpanded configuration. The offsets of the skeleton canhave associated open and closed states, respectively. The skeleton(and/or structures mounted thereto) will optionally be sufficientlybiased to urge the axial offsets toward a closed state when the balloonsare in the unexpanded configuration and no environmental loads areimposed.

The skeletons and arrays will often be included in a catheter configuredfor insertion into a body of a patient. The articulation systems formedical or non-medical uses may also include an input configured forreceiving a catheter articulation command from a user, and a processorcoupling the input to the fluid supply source. The processor may beconfigured to selectively direct the fluid to a subset of the expandablebodies in response to the command. For example, when the input isconfigured so that the command comprises a desired direction ofarticulation, and when the fluid supply comprises a plurality of valvescoupled to the plurality of channels, the processor may identify andactuate a subset of the valves in response to the direction. A number ofadditional and/or alternative relationships between the input commandsand valves may also be incorporated into the processor. As alternativeexamples (that may or may not be combined with the preceding exampleand/or with each other) when the input is configured so that the commandcomprises a desired location of articulation, the processor may identifyand actuate a subset of valves in response to the location; when theinput is configured so that the command comprises a radius ofarticulation, the processor may identify and actuate a subset of valvesin response to the radius; when the input is configured so that thecommand comprises a desired axial elongation quantity, the processor mayidentify and actuate a subset of valves in response to the elongationquantity; etc.

The systems may operate in an open-loop manner, so that the actualarticulation actuation is not sensed by data processing components ofthe system and feed back to any processor. Other systems may includecircuitry to generate feedback signals indicative of the state of someor all of the balloons or offsets optionally by printing or otherwiseincluding appropriate electrical components on or in the balloon walls.Some embodiments may sense an orientation (and/or relative position) ofa proximal or “base” portion of the skeleton adjacent the array-drivendistal portion so as to align desired and commanded orientations,regardless of any movement control feedback, with suitable positionand/or orientation sensors optionally being selected from among knowncomponents that rely on imaging technologies (such as optical,fluoroscopic, magnetic resonance, ultrasound, computed tomography,positron emission tomography, or the like) and use known imageprocessing techniques, and/or being selected from known minimallyinvasive tool tracking technologies (such as electrical, ultrasound, orother inserted device and active fiducial locating systems), and/orbeing selected from known catheter bend monitoring techniques (such asoptical fiber systems or the like). Processors of some embodiments mayemploy any of these or other sensors for feedback on the actuallocation, orientation, movement and/or pose and for determining furthervalve actuation signals.

Optionally, a plurality of the valves may be coupled to the proximal endof the skeleton. Instead (or in addition), a plurality of the valves maybe disposed along the array. For example, the substrate of the array maycomprise first and second substrate layers with a substrate layerinterface therebetween, and the channels may comprise channel wallsextending into the first layer from the substrate interface.

The expandable bodies of any of the arrays described herein may bedistributed axially and circumferentially along the substrate, so thatthe array may define (for example) an at least two dimensional array.Actuation fluid containment sheathing may encase the skeleton andballoons, with the sheathing optionally being integrated with thesubstrate. This may allow used inflation fluid to flow proximally fromthe balloons outside the channels of the substrate and therebyfacilitate balloon deflation without releasing the used inflation fluidinside a body or the like.

Prior to use, the array will often be coupled with a skeleton structureso that expansion of the expandable bodies alters an axis of theskeleton. Typically, the flexible substrate will be flexed from aninitial shape during mounting of the array to the skeleton, and may alsobe further flexed during articulation of the skeleton by the array.

Optionally, the skeleton may include a helical coil, which may havespaces between the loops when in a relaxed state or the coil may insteadbe biased so that adjacent loops of the coil axially engage each otherwhen the coil is in a relaxed state, which can help to transmit axiallycompressive loads between the loops. Alternative skeletons may includehypotube or other tubing having a plurality of lateral slots so as todefine the loops there between, and/or a braided tubular structurehaving a plurality of braid elements defining the loops.

Typically, the first balloon is eccentric of the skeleton and isdisposed radially between the skeleton and a radial support structure.The radial support can have opposed inner and outer surfaces and can beconfigured to limit radial displacement of the first balloon relative tothe skeleton during expansion, so that expansion of the first balloonfrom the deflated configuration to the inflated configuration inducesthe desired bend-inhibiting radial engagement between the first balloonand the first and second loops of the skeleton. Suitable radial supportsmay comprise a helical coil or even a circumferential band of material,often being a polymer material disposed radially outward of the skeletonso that expansion of the first balloon imposes a circumferential tensileload in the band. The radial support may optionally be integrated into asubstrate of a balloon array, with the first balloon being included inthe array structure.

Optionally, the first balloon is included in an array of balloonsdistributed along the skeleton, circumferentially, axially, or both.Each of the balloons is expandable from a deflated configuration to aninflated configuration, and some or all of the balloons have a pluralityof associated loops of the skeleton including a first associated loopand a second associated loop, the first associated loop movable axiallyrelative to the second associated loop during bending of the axisadjacent the balloon when the balloon is in the deflated configuration.These balloons each radially engage the first and second associatedloops in the inflated configuration so as to inhibit relative axialmovement and bending of the axis adjacent those balloon when theballoons are in the inflated configuration. A fluid supply system willoften be in fluid communication with the balloons during use so as toselectively inflate a desired subset of the balloons such that bendingof the axis adjacent the subset is inhibited. In some exemplaryembodiments, these balloons are circumferentially distributed about theskeleton, and inflation of a first subset of the balloons distributedabout a first axial segment of the skeleton inhibits bending of theskeleton in orthogonal bend orientations across the axis along the firstsegment. A second subset of the balloons extend along a second axialsegment of the skeleton can also be provided, the second segment axiallyadjacent to or overlapping with the first segment and at least partiallyextending axially beyond the first segment so that inflation of thefirst and second subsets inhibits axial bending of the skeleton in theorthogonal bend orientations contiguously along the first and secondaxial segments of the skeleton. The balloon arrays for inhibitingbending can be combined with balloon arrays for selective articulation(either by providing both types of balloon arrays or by including bothtypes of balloons in an integrated array), and the arrays may sharesubstrate, channel, and/or fluid control components and techniques.

As an optional feature, the skeleton comprises a plurality ofcircumferential loops of a helical coil, the coil including a helicalaxis winding around the axis of the skeleton, and the balloons includeat least one balloon wall disposed around the helical axis along atleast a portion of an associated loop of the coil. The associated pairof regions may be disposed on adjacent loops of the coil, so thatinflation of the balloon may push both adjacent loops away from the loopon which the balloon is mounted. Advantageously, a plurality of balloonsmay be formed from a continuous tube of material over a helical core byintermittently varying the size of the material outward (such as byblowing the material using balloon forming techniques) or inward (suchas by intermittently heat shrinking the material) or both. The core mayinclude one or more balloon inflation lumens, and by appropriatepositioning of the balloons along the helical axis, appropriate sizing,shaping, and spacing of the balloons, and by proving ports through awall of the core into a lumen associated with each balloon, the balloonarray may be fabricated with limited cost and tooling.

The fluid channel system will often comprise one or more helical lumenextending along one or more helical axis of one or more helicalstructures. For example, a first plurality of the balloons can be offsetfrom the axis along a first lateral orientation and in fluidcommunication with the helical lumen, the helical coil comprises a firsthelical coil. A second helical coil may be offset axially from andcoaxial with the first helical coil, the second helical coil havingsecond loops interspersed with the loops of the helical coil along theaxis of the catheter or other elongate body. The second helical coil mayhave a second helical lumen in fluid communication with a secondplurality of the balloons offset from the axis along a second lateralorientation so that transmission of fluid along the first and secondhelical lumens deflects the skeleton along the first and second lateralorientations, respectively.

In some embodiments, the fluid channel system comprises a second helicallumen extending along the helical axis. A first plurality of theballoons may be offset from the axis along a first lateral orientationand in fluid communication with the first helical lumen, and a secondplurality of the balloons may be offset from the axis along a secondlateral orientation and in fluid communication with the second helicallumen. This can allow transmission of fluid along the first and secondhelical lumens of the same helical coil to deflect the axis along thefirst and second lateral orientations, respectively.

The invention also provides an optional manifold architecture thatfacilitates separate computer-controlled fluid-actuated articulation ofa plurality of actuators disposed along the flexible body. The manifoldoften includes fluid supply channels that are distributed across severalregions of a manifold body, the manifold body optionally comprisingmodular plates with plate-mounted valves to facilitate fluidcommunication through a plurality of fluid transmission channelsincluded in one or more multi-lumen shafts of the articulated flexiblebody. The actuators preferably comprise balloons within a balloon array,and will often be mounted on one, two, or more extruded multi-lumenshafts. Valve/plate modules can be assembled in an array or stack, and aproximal interface of the shaft(s) may have ports for accessing thetransmission channels, with the ports being distributed along an axis ofthe proximal interface. By aligning and engaging the proximal interfacewith a receptacle that traverses the plates or regions of the manifoldassembly, the ports can be quickly and easily sealed to associatedchannels of the various valve/plate modules using a quick-disconnectfitting.

In many of the devices and systems described herein, the articulatedstructure comprises a catheter. Other articulated structures that can beused include guidewires, endoscopes and endoscope support devices,boroscopes, industrial manipulators or manipulator portions (such asgrippers or the like), prostheses, and the like. The actuators of thearticulated structures will often include a plurality of balloons, withthe balloons often being included in a balloon array that is distributedaxially and circumferentially about an elongate body of the articulatedstructure. In exemplary embodiments, the number of independent fluidchannels that are coupled through the interface/receptacle pairing willbe between 5 and 60, there typically being from 6 to 50 channels,preferably from 12 to 42 articulation fluid channels, and ideally from12 to 24 articulation fluid channels included within 1-4 extrudedmulti-lumen shafts or other multi-lumen substrate structures.

The manifold body often comprises a plurality of plates. Each plate willtypically have opposed major surfaces, with the regions of the manifoldbody being bordered by the plate surfaces. The receptacle typicallytraverses the plates. Note that the plates of the manifold mayoptionally be included in modular valve/plate units, so that an assemblyof the plates and valves controls and directs fluid flow. In otherembodiments, the manifold may comprise a simple interface structure thatcan, for example, direct fluid between a more complex module assembly(having valves, pressure sensors, and the like) and one or more flexiblemulti-lumen shafts of the articulated body. In other embodiments, theport-supporting proximal interface of the articulable structurecomprises a single rigid contiguous structure. Though the receptacle mayspan across several regions or plates of the manifold assembly, thereceptacle of the assembled manifold often comprises a contiguousfeature such that alignment of the proximal interface with thereceptacle registers all the channels with all the ports. Note thatthere may be additional couplers or connectors that are flexiblyattached to the proximal interface (such as one or more separatelypositionable electrical connector, optical fiber connector, and/orseparate fluid connectors(s) for therapeutic fluids (such as forirrigation, aspiration, drug delivery, or the like) or even actuation(such as for a prosthesis deployment balloon or the like). In otherembodiments, one, some, or all of these connectors may be integratedinto the proximal interface and receptacle. Regardless, one or morequick-disconnect fitting (such as the type that are manually movablebetween a first or latched configuration and a second or detachableconfiguration) may be used to facilitate and maintain sealed fluidcommunication between the ports and associated channels, and to allowquick and easy removal and replacement of the proximal portion so as toreplace the articulated structure with a different alternativearticulated structure.

The proximal interface of the articulatable structure will optionallyfacilitate one or more additional form of communication beyond thesealed port/channel fluid coupling. For example, the proximal interfacemay include a radio frequency identification (RFID) label, an electricalconnector, and/or an optical fiber connector. In such embodiments, thereceptacle will often include an RFID reader, an electrical connector,and/or an optical fiber connector, respectively. RFID data, orelectronic identification data, optical identification data, or otherforms of data can be used by a processor coupled to the manifold toidentify a type of the articulable structure (and optionally thespecific articulable structure itself). Transmitting this identificationdata across such a communication link between the proximal interface andthe receptacle facilitates a plug-and-play operability of the system,allowing a processor of the system to tailor fluid transmissions betweenthe manifold and the articulable structure to the particular type ofarticulable structure that is in use, allowing the system to inducedesired articulations without having to manually reconfigure theprocessor or manifold. Identification data can also help prevent unsafeand inappropriate re-use of high-pressure balloon articulation devices.Articulation state feedback may be provided using electricalinterface/receptacle connectors (such as using known electromagneticinternal navigation systems) or optical interface/receptacle connectors(such as using known optical fiber Bragg grating flex sensors). Suchconnectors may also be used by diagnostic or therapeutic tools carriedby the articulatable structure.

The proximal interface and the receptacle may take any of a variety of(typically corresponding) forms. The receptacle or the proximalinterface may, for example, comprise an array of posts, with the othercomprising an array of indentations. The posts will typically extendalong parallel axes (often from an underlying surface of the proximalinterface) and be matable with the indentations (typically being on thereceptacle), often so that the posts can all be inserted into theindentations with a single movement of a proximal interface body towardthe receptacle. Seals around the posts can provide sealed, isolatedfluid communication between the ports and the channels. The totalcross-sectional area of the posts and indentations that is exposed tothe fluid(s) therein may be limited to less than two square inches, andtypically being less than one square inch, most often being less than0.1 square inches, and ideally being about 0.025 square inches or lessso as to avoid excessive ejection forces. In many such post-indentationembodiments, the articulable structure can transmit the fluid flows fromthe manifold toward the actuators using a multi-lumen shaft. To transmita relatively large number of independent flows, the articulablestructure may have a plurality of multi-lumen shafts, such as an integernumber A of multi-lumen shafts extending distally from the proximalinterface, A being greater than 1 (and typically being 2 or 3). Eachmulti-lumen shaft can have an integer number B of lumens with associatedports and associated actuators, B also being greater than 1 (andtypically being from 3 to 15, more typically being 6 to 15). The arrayof posts may comprise an A×B array of posts, and the post/indentationengagements may be distributed among B valve module plates of themanifold. In exemplary embodiments, each plate comprises a plurality ofplate layers, and each plate has a lateral plate receptacle member thatis affixed to the plate layers. The receptacle can be defined by lateralsurfaces of the receptacle members.

In alternative forms of the proximal interface and receptacle, thereceptacle may be defined by receptacle passages that extend entirelythrough some, most, or even all of the plates of the manifold. Theplates may be stacked into an array (typically with the opposed majorsurfaces in apposition), and the receptacle passages can be axiallyaligned in the assembled manifold so as to facilitate inserting theproximal interface therein. In such embodiments, the proximal interfaceof the articulatable body may comprise a shaft having axiallydistributed ports. Exemplary proximal interface structures may take theform of a simple extruded polymer multi-lumen shaft, with the portscomprising lateral holes drilled into the various lumens. Themulti-lumen shaft itself may be inserted into and seal against thereceptacle, or there may be an intermediate interface body having a tubeor shaft that facilitates the use of the manifold with differentarticulable structures. Regardless, the shaft can be configured andsized to be inserted into the receptacle so as to provide sealingengagement between the ports, and which can result in sealedcommunication between the ports and their associated fluid channels.Optionally, a compression member couples the plates of the manifoldtogether so as to impose axial compression. Deformable seals may bedisposed between the plates, and those seals may protrude radiallyinwardly into the receptacle so as to seal between the ports when thecompression member squeezes the plates together. Alternative sealstructures may protrude radially outwardly to provide sealing against asurrounding surface.

Many of the manifold bodies can make use of a modular manifold assemblystructure having an array of interchangeable plate modules. The platemodules include valves and one or more plate layers. The plate layers ofeach module define a proximal major surface of the module and a distalmajor surface of the plate module. The major surfaces of adjacent platemodules may be in direct apposition with direct plate material-platematerial contact (optionally with the engaging plate surfaces fusedtogether), but may more typically have deformable sealing material (suchas O-rings, formed in place gasket material, laser cut gaskets, 3Dprinted sealing material, or the like) or with a flexible film (such asa flex circuit substrate and/or a deformable sealing member adhesivelybonded to one of the adjoining plates) between the plate structures. Insome embodiments (particularly those in which the plates are laterallysupported by a receptacle member) there may be gaps between some or allof the plates in the array. Regardless, an axial spacing between theports of the proximal interface can correspond to a module-to-moduleseparation between the fluid channels of the adjacent modules. Hence,alignment of the proximal interface with the receptacle can, when theaxes of the interface and the receptacle are aligned, register each ofthe ports with an associated fluid channel (despite the channels beingincluded on different plate modules). Alternative module body structuresmay comprise 3D printed structures, with valves, sensors and the likeoptionally being integrally printed or affixed to the manifold body.

The plate modules will optionally be disposed between a proximal end capof the manifold and a distal end cap of the manifold. The plate modulesmay each include a plurality of plate module layers, with the fluidchannels typically being disposed between the layers (such as by moldingor laser micromachining an open channel into the surface of one layerand sealing the channel by bonding another layer over the open channel).In some embodiments, inflation passages extend through some, most, oreven all of the modular plate layers, and these inflation passages canbe aligned in the stacked plates of the modular manifold assembly toform a continuous inflation fluid header (with the ends of the inflationheader typically being sealed by the end caps). Inflation valves can bedisposed along inflation channels between the inflation header and thereceptacle so as to control a flow of pressurized inflation fluidtransmitted from the header toward a particular port of the articulatedstructure. Optionally, deflation passages may similarly extend throughsome, most, or all of the plate layers and align in the modular manifoldassembly to form a continuous deflation header, deflation valves beingdisposed along deflation channels between the deflation header and thereceptacle. Alternative embodiments may simply port the deflation fluidfrom each plate directly to the atmosphere, foregoing the deflationheader. However, use of the deflation header may be provide advantages;a deflation plenum can be in fluid communication with the deflationheader, and a deflation valve can be disposed between the deflationplenum and a deflation exhaust port (for releasing deflation fluid tothe atmosphere of the like). By coupling a pressure sensor to thedeflation plenum, the deflation back-pressure can be monitored and/orcontrolled.

In most of the manifold assemblies provided herein, a plurality ofpressure sensors are coupled to the channels of the plate modules. Thepressure sensors are also coupled to a processor, and the processortransmits valve commands to valves of the plate modules in response topressure signals from the pressure sensors. Preferably, most or all ofthe channels having an associated port in the articulated assembly willalso have a pressure sensor coupled thereto so as to all the pressuresof fluids passing through the ports of the interface to the monitoredand controlled.

A pressurized canister containing inflation fluid can optionally be usedas the inflation fluid source. The inflation fluid preferably comprisesan inflation liquid in the canister, though the inflation liquid willoften vaporize to an inflation gas for use within the actuators. Thepressurized canister can be mated with a canister receptacle or socketof the manifold so as to transmit the inflation fluid toward the fluidchannels, with the socket often having a pin that pierces a frangibleseal of the canister. The vaporization of liquid in the canister canhelp maintain a constant fluid inflation pressure without having toresort to pumps or the like. An exemplary inflation fluid comprises acryogenic fluid such as nitrous oxide, with the canister preferablycontaining less than 10 oz. of the inflation fluid, often from 0.125 oz.to 7½ oz., typically from 0.25 oz to 3 oz. Fluid pressures in themanifold may range up to about 55 atm. or more, with controlledpressures often being in a range from about 3 atm. to about 40,optionally being less than about 35, and in many cases being about 27atm. or less.

The valve of the fluid control manifolds may include an inflation valvedisposed between the fluid source and a first balloon, and a deflationvalve disposed between a second balloon and a surrounding atmosphere.The first valve can be configured to independently transmit minimumincrements of 50 nl or less of the liquid, with the flowing coolingfluid often remaining liquid till it traverses a throat of the valve.The second valve can be configured to independently transmit at least0.1 scc/s of the gas. Including such valves in the system for inflationlumen of the articulated device may facilitate independent pressurecontrol over the balloons (or the subsets of balloons, with each subsetbeing inflated using a common inflation lumen). The minimum liquidincrement may be 25 nl (or even 15 nl) or less, while the minimum gasflow may be 0.5 scc/s (or even 1 scc/s) or more. Some embodiments mayemploy multi-way valves that can be used to control both inflation fluidflowing into the balloon and deflation fluid exhausted from the balloon,with accuracy of control (despite the different inflation and deflationflows) being maintained by differing valve throats, by differingorifices or other flow restricting devices adjacent the valve, byproportional flow control of sufficient range, and/or by a sufficientlyrapid valve response rate. In some embodiments, a pressure-controlledplenum can be disposed between the fluid source and the first and secondballoon, or the liquid may otherwise vaporize to the gas before thevalve so that none of the liquid transits a valves between the plenumand the balloons.

To facilitate the safe use of inflation fluids for articulation ofcatheters and other articulatable structures, a fluid shutoff valve maybe disposed upstream of the fluid channels. Moreover, a vacuum sourceand a vacuum sensing system may also be included, with the actuatorsbeing disposed within a sealed chamber of the articulation structure andthe vacuum source being coupleable to that chamber. The vacuum sensingsystem can couple the chamber to the shutoff valve so as to inhibittransmission of inflation fluid to the actuators of the articulablestructure in response to deterioration of vacuum within the chamber.Advantageously, the vacuum source may comprise a simple positivedisplacement pump (such as a syringe pump with a latchable handle), andelectronic sensing of the vacuum can provide continuous safetymonitoring. The chamber of the articulatable structure can be providedusing an outer sheath around the balloon array, and optionally an innersheath within a helical or other annular balloon array arrangement. Bysealing the array proximally and distally of the balloons, the spacesurrounding the array can form a vacuum chamber in which the vacuum willdeteriorate if any leakage of the inflation fluid out of the array, andor any leakage of blood, air, or other surrounding fluids into thechamber.

The articulation devices, systems, and methods for articulating elongateflexible structures often have a fluid-driven balloon array that can beused to locally contract a flexible elongate frame or skeleton (forexample, along one or more selected side(s) of one or more selectedaxial segment(s)) of an elongate flexible body so as to help define aresting shape or pose of the elongate body. In preferred embodiments,the skeleton structures described herein will often have pairs ofcorresponding axially oriented surface regions that can move relative toeach other, for example, with the regions being on either side of asliding joint, or coupled to each other by a loop of a deformablehelical coil structure of the skeleton. A balloon of the array (or someother actuator) may be between the regions of each pair. One or more ofthese pairs of surfaces may be separated by an offset that increaseswhen the axis of the skeleton is compressed near the pair. While it iscounterintuitive, axial expansion of the balloon (or another actuator)between such regions can axially contract or shorten the skeleton nearthe balloon, for example, bending the skeleton toward a balloon that isoffset laterally from the axis of the elongate body. Advantageously, theskeleton and balloon array can be configured so that different balloonsapply opposing local axial elongation and contraction forces. Hence,selective inflation of subsets of the balloons and correspondingdeflation of other subsets of the balloons can be used to controllablyurge an elongate flexible body to bend laterally in a desired direction,to change in overall axial length, and/or to do a controlled combinationof both throughout a workspace. Furthermore, varying the inflationpressures of the opposed balloons can controllably and locally modulatethe stiffness of the elongate body, optionally without changing the poseof the articulated elongate body.

In one aspect, the invention provides an articulable catheter comprisingat least one elongate skeleton having a proximal end and a distal endand defining an axis therebetween. The skeleton includes an inner walland an outer wall with a first flange affixed to the inner wall and asecond flange affixed to the outer wall. Opposed major surfaces of thewalls may be oriented primarily radially, and opposed major surfaces ofthe flanges may be oriented primarily axially. A plurality of axialcontraction balloons can be disposed radially between the inner wall andthe outer wall, and axially between the first flange and the secondflange so that, in use, inflation of the contraction balloons pushes thefirst and second flanges axially apart so as to urge an axial overlap ofthe inner and outer walls to increase. This can result in the skeletonadjacent the inflated contraction balloons being locally urged toaxially contract in response to the inflating of the balloon.

In some embodiments, the skeleton comprises a plurality of annular orring structures, often including a plurality of inner rings having theinner walls and a plurality of outer rings having the outer walls. Theflanges of such embodiments may comprise annular flanges affixed to thewalls, and the annular structures or rings may be axially movablerelative to each other. Typically, each ring will include an associatedwall and will have a proximal ring end and a distal ring end, with thewall of the ring affixed to an associated proximal flange at theproximal ring end and to an associated distal flange at the distal ringend, the first and second flanges being included among the proximal anddistal flanges.

In other embodiments, the skeleton comprises at least one helicalmember. For example, the walls may comprise helical walls, and theflanges may comprise helical flanges affixed to the helical walls, thehelical member(s) including the walls and the flanges. The helicalmember may define a plurality of helical loops and the loops may beaxially movable relative to each other sufficiently to accommodatearticulation of the skeleton. Preferably, each loop has an associatedwall with a proximal loop edge and a distal loop edge, the wall beingaffixed to an associated proximal flange at the proximal loop edge andto an associated distal flange at the distal loop edge (the first andsecond flanges typically being included among these proximal and distalflanges).

In the ring embodiments, the helical embodiments, and other embodiments,a plurality of axial extension balloons may be disposed axially betweenadjacent flanges of the skeleton. Typically, only one of the walls ofthe skeleton (for example, an inner wall or an outer wall but not both)may be disposed radially of the extension balloons themselves. In otherwords, unlike many of the contraction balloons, the extension balloonsare preferably not contained radially in a space between an inner walland an outer wall. As a result, and unlike the contraction balloons,inflation of the extension balloons during use will push the adjacentflanges axially apart so as to urge the skeleton adjacent the inflatedextension balloons to locally elongate axially.

Advantageously, the extension balloons and the contraction balloons canbe mounted to the skeleton in opposition so that inflation of theextension balloons and deflation of the contraction balloons locallyaxially elongates the skeleton, and so that deflation of the extensionballoons and inflation of the contraction balloons locally axiallycontracts the skeleton. Note that the balloons can be distributedcircumferentially about the axis so that selective inflation of a firsteccentric subset of the balloons and selective deflation of a secondeccentric subset of the balloons can laterally deflect the axis toward afirst lateral orientation, and so that selective deflation of the firsteccentric subset of the balloons and selective inflation of the secondeccentric subset of the balloons can laterally deflect the axis awayfrom the first lateral orientation. The balloons can also (or instead)be distributed axially along the axis so that selective inflation of athird eccentric subset of the balloons and selective deflation of afourth eccentric subset of the balloons may laterally deflect the axisalong a first axial segment of the skeleton, and selective deflation ofa fifth eccentric subset of the balloons and selective inflation of asixth eccentric subset of the balloons laterally deflects the axis alonga second axial segment of the skeleton, the second axial segment beingaxially offset from the first axial segment.

Most of the systems and devices provided herein, and particularly thosehaving skeletons formed using helical structural members, may benefitfrom groups of the balloons having outer surfaces defined by a sharedflexible tube. The tube may have a cross-section that variesperiodically along the axis, and a multi-lumen shaft can be disposedwithin the flexible tube. The tube may be sealed to the shaftintermittently along the axis, with radial ports extending betweeninteriors of the balloons and a plurality of lumens of the multi-lumenshaft so as to facilitate inflation of selectable subsets of theballoons by directing inflation fluid along a subset of the lumens. Inexemplary embodiments, the inflation fluid may comprise gas within theballoons and liquid within the inflation lumens.

Optionally, the system allows the stiffness to be controllably andselectably increased from a nominal non-energized actuator stiffness toan intermediate stiffness configuration (with the actuators partiallyenergized, and/or to a relatively high stiffness configuration (with theactuators more fully or fully energized). Different axial segments maybe controllably varied (so that a first segment has any of a pluralityof different stiffnesses, and a second segment independently has any ofa plurality of different stiffnesses). In exemplary embodiments, theenergy supply system may comprise a pressurized fluid source and theenergizing of the actuators may comprise pressurizing the actuators (theactuators often comprising fluid-expandable bodies such as balloons orthe like).

Optionally, a first subset of the fluid-expandable bodies can bedisposed substantially axisymmetrical along the segment of the skeletonsuch that inflation of the first subset axially elongates the segment. Asecond subset of the fluid-expandable bodies may be distributedeccentrically along the segment such that inflation of the second subsetlaterally bends the segment along the first lateral bending axis. Athird subset of the fluid-expandable bodies may be distributedeccentrically along the segment such that inflation of the third subsetlaterally bends the segment along the second lateral bending axis andtransverse to the first bending axis. The second and third subsets willoften axially overlap the first subset. Optionally, a fourth subset ofthe fluid-expandable bodies may be supported by the skeletonsubstantially in opposition to the first subset and a fifth subset ofthe fluid-expandable bodies can similarly be substantially in oppositionto the second subset, with a sixth subset of the fluid expandable bodiessubstantially in opposition to the third subset. This can facilitateusing selective inflation of the subsets to controllably and reversiblyarticulate the segment throughout a three-dimensional workspace.

In another aspect, the invention provides an articulatable structurecomprising an elongate flexible body having a proximal end and a distalend with an axis therebetween. An array of actuators can be mountedalong the body so as to articulate the body.

Optionally, a manifold can be provided for articulating the elongatebody. The array of actuators can include an array of articulationballoons, and the manifold can include a liquid inflation fluid sourceand a gas inflation fluid source. A processor can also be included, and,in use, at least one fluid channel of the structure may contain both agas inflation fluid and a liquid inflation fluid. The processor can beconfigured to alter relative amounts of the gas inflation fluid andliquid inflation fluid in the channel in response to a command to changea compliance of a subset of the balloons in communication with thechannel.

Still further advantageous features can being included in any of themanifolds that will be used for articulating the elongate body. Forexample, when the body has an array of articulation balloons or otherfluid expandable bodies, the manifold may include a receptacleconfigured to receive a canister having a first inflation fluid. Adeformable diaphragm of the manifold may have a first side and a secondside, and in use, the first side may be in fluid communication with thefirst inflation fluid and the second side may be in fluid communicationwith a second inflation fluid. A valve can couple the canister to thefirst side of the diaphragm so as to control a pressure of the first andsecond inflation fluids. The second side of the diaphragm can be influid communication with the balloons to selectively inflate theballoons with the second inflation fluid. This may be beneficial, forexample, if the body comprises a catheter body, the first inflationfluid comprises a gas and the second inflation fluid comprises a liquid.

A number of refinements may be included the other components of thesystems and structures. For example, the body may include a helicalframe having a proximal flange and a distal flange with an axial wallextending therebetween. The actuators may urge the flanges axially so asto locally deflect the axis. The frame may have opening, slots, or cutsin the axial wall, with these slots or cuts being locatedcircumferentially between the actuators so as to enhance lateralflexibility of the frame.

A number of different data processing features may also be included. Forexample, the body may have an ID tag embodying machine-readable data,and the structure or system may further include a processor coupled withthe actuators so as to transmit drive signals thereto. The processor canbe configured for coupling with a server that is, in turn, incommunication with a network, so as to transmit ID data. If theactuators comprise fluid expandable bodies, the structures or systemsmay further include a plurality of pressure sensors in communicationwith the fluid expandable bodies. A source of pressurized fluid may alsobe included, and a plurality of valves can be between the fluid sourceand the expandable bodies. The processor may be configured to inducemovement of the body toward a new position in response to a commandinput by a system user, and the processor may include a closed loopvalve controller configured to actuate the valves and provide specificpressures in the expandable bodies, as sensed by the sensors.Optionally, the processor comprises a module configured to determine adesired state of the body, an inverse kinematics module configured todetermine a desired joint state, a module configured to determine adifference between an actual joint state and the desired joint state soas to define a joint error, and a joint trajectory planner. Thetrajectory planner can define a joint error trajectory in response tothe desired joint state and the joint error, and the joint trajectorycan be transmitted to an inverse fluidic calculator to determine commandsignals for the valves. In still further optional features, the systemor structure also includes a feedback system configured to sense anactual position or state of the body or other articulated structureusing a sensor. The sensor may comprise, for example, an electromagneticnavigation system, an ultrasound navigation system, an image processorcoupled to a 3D image acquisition system, an optical fiber shape sensor,and/or an electrical shape sensors.

In another aspect, the invention provides a heart valve therapy systemfor structurally altering a valve of a heart in a patient body. Thetherapy system comprises an elongate flexible cardiac catheter bodyhaving a proximal end and a distal end with an axis therebetween. Atherapeutic valve tool can be mounted near the distal end of thecatheter body, the tool having an axis. The catheter body can have anarticulated portion adjacent the distal end, and the articulated portionmay include an array of articulation balloons.

Optionally, the balloons may include a first subset and a second subset,and inflation of the first subset may articulate the articulated portionalong a first articulation orientation (such as bending the articulatedcatheter in an X direction). Inflation of the second subset mayarticulating the articulated portion along a second orientationtransverse to the first orientation (such as by bending the catheter ina Y direction). In many of the embodiments provided herein, the toolcomprises a replacement valve (such as a transcatheter prosthetic mitralvalve). Alternative embodiments can be make use of a tool comprising avalve leaflet plication clip, a prosthetic structure that can be providea less-invasive therapy similar to the Alfieri stitch. Still furtheralternative embodiments may make use of a tool comprising atranscatheter annuloplasty ring, or annular plication tool to decreasethe size of the valve annulus. Whatever specific form the tool takes,the catheter body may optionally form a component of a transceptalaccess and/treatment system, with known transceptal components (atranseptal needle, a septum dilation tip, a blood pressure sensingsystem for verifying access to the left atrium, a steerable sheath orguide catheter, and/or the like) often also being provided. Transceptalaccess may not be needed for other procedures, and the therapy may bedirected at any of the valves of the heart, including the aortic,mitral, tricuspid, and/or pulmonary.

In some embodiments, the catheter system may be configured to accessheart tissues via the aortic arch of the patient. For example,articulation of the articulated portion of the catheter body may have anarticulated configuration with the tool at an angle relative to aproximal end of the articulated portion sufficient to inhibit traumaticengagement between the tool and a surface of the aortic arch throughoutadvancement of the tool across the aortic arch. Such systems mayoptionally include a prosthetic aortic valve, but may alternativelyinclude a prosthetic mitral valve. Where the heart has a left ventricle,an aortic valve, and a mitral valve, articulation of the articulatedportion of the catheter body may drive the catheter body to a bentconfiguration with the tool at an angle relative to a proximal base ofthe articulated portion sufficient to allow retrograde engagementbetween the tool and the tissue of the mitral valve when the body of thecatheter extends through the mitral valve or the aortic valve.

When the tool comprises a mitral valve, the articulated portion may havea first axial segment and a second axial segment distal of the firstsegment, the first segment have a range of motion encompassing about a90 degree lateral bend along the first orientation so that a distal endof the first segment can be oriented transceptally when a proximal baseof the first segment extends along a vena cava. The second segment mayhave a range of motion encompassing about a 90 degree lateral bend alongthe first orientation so that a distal end of the second segment canextend apically when the distal end of the first segment is orientedtransceptally. Preferably, articulation of the segments within theirranges of motions will be independent. Optionally, the first and secondsegments may each also have an independent range of motion along asecond orientation transverse to the first orientation. In someembodiments, the articulated portion further comprises a thirdindependently articulatable segment disposed proximally of the secondsegment, the third segment articulatable between an anchor configurationand a small profile configuration within a third range of motion. Thethird segment may be elongatable along the axis within a second range ofmotion, whether or not it has a specialized anchor configuration.

In another aspect, the invention provides a heart valve therapy methodfor repairing or replacing a valve of a heart in a patient body. Themethod comprises articulating an elongate flexible cardiac catheter bodywithin a patient body. The catheter body has a proximal end and a distalend with an axis therebetween. A therapeutic valve tool is mounted nearthe distal end of the catheter body, and the articulating of thecatheter body within the patient is performed by inflating a subset ofan array of articulation balloons disposed along the catheter body.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a simplified perspective view of a medical procedure in whicha physician can input commands into a catheter system so that a catheteris articulated using systems and devices described herein.

FIG. 1-1 schematically illustrates a catheter articulation system havinga hand-held proximal housing and a catheter with a distal articulatableportion in a relaxed state.

FIGS. 1A-1C schematically illustrate a plurality of alternativearticulation states of the distal portion of the catheter in the systemof FIG. 1.

FIG. 2 schematically illustrates an alternative distal structure havinga plurality of articulatable sub-regions or segments so as to provide adesired total number of degrees of freedom and range of movement.

FIG. 3 is a simplified exploded perspective view showing a balloon arraythat can be formed in a substantially planar configuration and rolledinto a cylindrical configuration, and which can be mounted coaxially toa helical coil or other skeleton framework for use in the catheter ofthe system of FIGS. 1 and 2.

FIGS. 4A and 4B are a simplified cross-section and a simplifiedtransverse cross-section, respectively, of an articulatable catheter foruse in the system of FIG. 1, shown here with the balloons of the arrayin an uninflated, small axial profile configuration and between loops ofthe coil.

FIG. 4C is a simplified transverse cross-section of the articulatablecatheter of FIGS. 4A and 4B, with a plurality of axially alignedballoons along one side of the articulatable region of the catheterinflated so that the catheter is in a laterally deflected state.

FIG. 5 is a simplified transverse cross-section of the articulatablecatheter of FIG. 4, with a plurality of laterally opposed balloonsinflated so that the catheter is in an axially elongated state.

FIG. 6 schematically illustrates components for use in the cathetersystem of FIG. 1, including the balloon array, inflation fluid source,fluid control system, and processor.

FIG. 7 is a simplified schematic of an alternative balloon array andfluid control system, in which a plurality of valves coupled with theproximal end of the catheter can be used to direct fluid to any of aplurality of channels of the array and thereby selectably determine asubset of balloons to be expanded.

FIGS. 8-13 schematically illustrate valve and balloon arrangements whichmay be used and/or combined in the inflation fluid supply systems of thesystems and devices described herein.

FIGS. 14A-16 illustrate components of an alternative embodiment having aplurality of interleaved multi-lumen polymer helical cores interleavedwith a plurality of resilient coil structures having axially orientedsurfaces configured to radially restrain the balloons.

FIGS. 17A and 17B are a perspective view and a cross-section ofcomponents of a catheter and fluid supply manifold system.

FIG. 17C is a perspective view of a fluid supply manifold havingcomponents similar to those of FIGS. 17A and 17B, showing how additionalinterchangeable modules can be included in the manifold assembly forcontrolling fluid systems having greater numbers of fluid channels.

FIG. 18 is a simplified schematic of a modular manifold having a stackof valve plate assemblies through which a multi-lumen connector extendsso as to provide controlled fluid flow to and from balloons of an array.

FIGS. 18A-18C are perspective views showing an alternative modularmanifold assembly having modules that each include valves, supply fluidchannels, exhaust fluid channels, and passages through the plates of themodules that align in the stacked-plate assembly for use as multi-lumenshaft receptacles, fluid headers, and the like.

FIGS. 18D and 18E are alternative simplified schematics of modular fluidmanifold systems showing additional components and systems that can becombined with those of FIG. 18.

FIGS. 18F and 18G illustrate an interface for coupling any of aplurality of alternative multi-lumen shafts having differing sizesand/or shapes to a stacked-plate fluid manifold assembly.

FIG. 19 is a perspective view of a modular manifold with the layers ofone of the valve assemblies exploded so as to show the associatedvalves, axial passages, and lateral channels.

FIGS. 19A and 19B are a simplified perspective view and a schematiccross-section of plate layers used in a modular manifold similar to thatof FIG. 19, showing channels and passages for one of multi-lumensshafts.

FIGS. 20A-22A schematically illustrate skeletons structures havingframes or members with balloons mounted in opposition so as to axiallyextend with inflation of one subset of the balloons, and to axiallycontract with inflation of another subset of balloons.

FIGS. 22B and 22C are a schematic illustration of an exemplary axialexpansion/contraction skeleton with axial expansion and axialcontraction balloons; and a corresponding cross-section of a skeletonhaving an axial series of annular members or rings articulated by theaxial expansion and axial contraction balloons, respectively.

FIGS. 22D-22H are illustrations of elongate flexible articulatedstructures having annular skeletons with three opposed sets of balloons,and show how varying inflation of the balloons can be used to axiallycontract some portions of the frame and axially extend other portions tobend or elongate the frame and to control a pose or shape of the framein three dimensions.

FIGS. 23A-23J are illustrations of alternative elongate articulatedflexible structures having annular skeletons and two sets of opposedballoons, and show how a plurality of independently controllable axialsegments can be combined to allow control of the overall elongatestructure with 6 or more degrees of freedom.

FIGS. 24A-24G illustrate components of another alternative elongatearticulated flexible structure having axial expansion balloons andopposed axial contraction balloons, the structures here having helicalskeleton members and helical balloon assemblies.

FIGS. 25A-25F illustrate exemplary elongate articulated flexiblestructures having helical skeleton members and three helical balloonassemblies supported in opposition along the skeleton, and also show howselective inflation of subsets of the balloons can locally axiallyelongate and/or contract the skeleton to bend the structure laterallyand/or alter the overall length of the structure.

FIGS. 26A and 26B illustrate alternative articulated structures similarto those of FIGS. 25A-25F, here with two balloon assemblies supported inopposition along the frames.

FIG. 27 illustrates alternative multi-lumen conduit or core structuresfor use in the balloon assemblies of FIGS. 24 and 25, showing a varietyof different numbers of channels that can be used with different numbersof articulated segments.

FIG. 28 schematically illustrates control system logic for using thefluid drive systems described herein to articulate catheters and otherelongate flexible structures per input provided by a system user.

FIG. 29 schematically illustrates a data acquisition and processingsystem for use within the systems and methods described herein.

FIG. 29A schematically illustrates a base station and network system foruse within the systems and methods described herein.

FIGS. 30A-30D illustrate an alternative interface for coupling a modularfluid manifold to a plurality of multi-lumen shafts so as to providecontrol over articulation of a catheter along a plurality of segments,each having a plurality of degrees of freedom, along with portions ofsome of the plate modules of the manifold, with the plate modules herehaving a receptacle member that helps couple the layers of the plates toposts of the interface.

FIGS. 31A-31C schematically illustrate positioning and anchoring of amitral valve delivery catheter system for deployment of a mitral valveprosthesis in heart of a patient

FIGS. 32A-32C schematically illustrate positioning of a mitral valveprosthesis in five degrees of freedom by independent articulation ofthree axial segments of an articulated catheter.

FIGS. 33A and 33B illustrate alternative prosthetic valve structureswhich may be delivered using the deployment systems described herein.

FIG. 34 shows a valve leaflet application clip and associated deploymentsystem.

FIGS. 35A-35C illustrate a catheter deployment system for anannuloplasty ring.

FIGS. 35D-35F illustrate a catheter deployment system for anannuloplasty plication suture.

FIGS. 35G and 35H illustrate trans-aortic access to the left ventricleand retrograde treatment of the mitral annulus.

FIGS. 36A-37D schematically illustrate alternative helical framestructures having cuts and channels to enhance flexibility and/orprovide access to balloon end surfaces to promote rotational alignmentof subsets of balloons.

FIGS. 37E, 37F, and 37G illustrate components that may be used to helppromote rotational alignment of balloons within helical framestructures.

FIGS. 38A and 38B schematically illustrate an alternative helical innerframe having enhanced flexibility.

FIGS. 39A-39D illustrate alternative ring frame assembly components.

FIGS. 40A-40D illustrate an alternative coiled frame assembly that canaccommodate a helical balloons assembly, and in which opposed balloonsof the array bend the frame perpendicular to an axis of the frame.

FIGS. 41A-41F schematically illustrate helical frame structures in whicha wind orientation of one region of the frame is reversed from that ofanother region of the frame, and also shows how coupling between axialtwisting and elongation of the frame can be used to control overalllength of the frame, overall twist of the frame, or both.

FIGS. 42A-42D illustrate an alternative manifold assembly and manifoldcomponents.

DETAILED DESCRIPTION OF THE INVENTION

The present invention generally provides fluid control devices, systems,and methods that are particularly useful for articulating catheters andother elongate flexible structures. In exemplary embodiments theinvention provides a modular manifold architecture that includesplate-mounted valves to facilitate fluid communication along a pluralityof fluid channels included in one or more multi-lumen shafts, often forarticulating actuators of a catheter. Preferred actuators includeballoons or other fluid-expandable bodies, and the modular manifoldassemblies are particularly well suited for independently controlling arelatively large number of fluid pressures and/or flows. The individualplate modules may include valves that control fluid supplied to acatheter or other device, and/or fluid exhausted from the catheter orother device. A receptacle extending across a stack of such modules canreceive a fluid flow interface having a large number of individual fluidcoupling ports, with the total volume of the modular valve assembly,including the paired receptacle and fluid flow interface of the deviceoften being quite small. In fact, the modular manifold will preferablybe small enough to hold in a single hand, even when a controller (suchas a digital processor), a pressurized fluid source (such as a canisterof cryogenic fluid), and an electrical power source (such as a battery)are included. When used to transmit liquids that will vaporize to a gasthat inflates a selected subset of microballoons within a microballoonarray, control over the small quantities of inflation liquids may directmicrofluidic quantities of inflation fluids. Microelectromechanicalsystem (MEMS) valves and sensors may find advantageous use in thesesystems; fortunately, suitable microfluidic and MEMS structures are nowcommercially available and/or known valve structures may be tailored forthe applications described herein by a number of commercial serviceproviders and suppliers.

The present invention also provides improved medical devices, systems,and methods, with exemplary embodiments providing improved systems fordiagnosing and/or treating a valve of a heart. The invention optionallymakes use of an array of articulation balloons to control movement of adistal portion of a catheter inside the heart, and may be used to aligna diagnostic or treatment tool with a mitral or other valve. As thearticulation balloons can generate articulation forces at the site ofarticulation, the movement of the articulated catheter within thebeating heart may be better controlled and/or provide greater dexteritythan movements induced by transmitting articulation forces proximallyalong a catheter body that winds through a tortuous vascular pathway.

Embodiments provided herein may use balloon-like structures to effectarticulation of the elongate catheter or other body. The term“articulation balloon” may be used to refer to a component which expandson inflation with a fluid and is arranged so that on expansion theprimary effect is to cause articulation of the elongate body. Note thatthis use of such a structure is contrasted with a conventionalinterventional balloon whose primary effect on expansion is to causesubstantial radially outward expansion from the outer profile of theoverall device, for example to dilate or occlude or anchor in a vesselin which the device is located. Independently, articulated medialstructures described herein will often have an articulated distalportion, and an unarticulated proximal portion, which may significantlysimplify initial advancement of the structure into a patient usingstandard catheterization techniques.

The catheter bodies (and many of the other elongate flexible bodies thatbenefit from the inventions described herein) will often be describedherein as having or defining an axis, such that the axis extends alongthe elongate length of the body. As the bodies are flexible, the localorientation of this axis may vary along the length of the body, andwhile the axis will often be a central axis defined at or near a centerof a cross-section of the body, eccentric axes near an outer surface ofthe body might also be used. It should be understood, for example, thatan elongate structure that extends “along an axis” may have its longestdimension extending in an orientation that has a significant axialcomponent, but the length of that structure need not be preciselyparallel to the axis. Similarly, an elongate structure that extends“primarily along the axis” and the like will generally have a lengththat extends along an orientation that has a greater axial componentthan components in other orientations orthogonal to the axis. Otherorientations may be defined relative to the axis of the body, includingorientations that are transvers to the axis (which will encompassorientation that generally extend across the axis, but need not beorthogonal to the axis), orientations that are lateral to the axis(which will encompass orientations that have a significant radialcomponent relative to the axis), orientations that are circumferentialrelative to the axis (which will encompass orientations that extendaround the axis), and the like. The orientations of surfaces may bedescribed herein by reference to the normal of the surface extendingaway from the structure underlying the surface. As an example, in asimple, solid cylindrical body that has an axis that extends from aproximal end of the body to the distal end of the body, the distal-mostend of the body may be described as being distally oriented, theproximal end may be described as being proximally oriented, and thesurface between the proximal and distal ends may be described as beingradially oriented. As another example, an elongate helical structureextending axially around the above cylindrical body, with the helicalstructure comprising a wire with a square cross section wrapped aroundthe cylinder at a 20 degree angle, might be described herein as havingtwo opposed axial surfaces (with one being primarily proximallyoriented, one being primarily distally oriented). The outermost surfaceof that wire might be described as being oriented exactly radiallyoutwardly, while the opposed inner surface of the wire might bedescribed as being oriented radially inwardly, and so forth.

Referring first to FIG. 1, a first exemplary catheter system 1 andmethod for its use are shown. A physician or other system user Uinteracts with catheter system 1 so as to perform a therapeutic and/ordiagnostic procedure on a patient P, with at least a portion of theprocedure being performed by advancing a catheter 3 into a body lumenand aligning an end portion of the catheter with a target tissue of thepatient. More specifically, a distal end of catheter 3 is inserted intothe patient through an access site A, and is advanced through one of thelumen systems of the body (typically the vasculature network) while userU guides the catheter with reference to images of the catheter and thetissues of the body obtained by a remote imaging system.

Exemplary catheter system 1 will often be introduced into patient Pthrough one of the major blood vessels of the leg, arm, neck, or thelike. A variety of known vascular access techniques may also be used, orthe system may alternatively be inserted through a body orifice orotherwise enter into any of a number of alternative body lumens. Theimaging system will generally include an image capture system 7 foracquiring the remote image data and a display D for presenting images ofthe internal tissues and adjacent catheter system components. Suitableimaging modalities may include fluoroscopy, computed tomography,magnetic resonance imaging, ultrasonography, combinations of two or moreof these, or others.

Catheter 3 may be used by user U in different modes during a singleprocedure, including two or more of a manual manipulation mode, anautomated and powered shape-changing mode, and a combination mode inwhich the user manually moves the proximal end while a computerarticulates the distal portion. More specifically, at least a portion ofthe distal advancement of catheter 3 within the patient may be performedin a manual mode, with system user U manually manipulating the exposedproximal portion of the catheter relative to the patient using hands H1,H2. Catheter 3 may, for example, be manually advanced over a guidewire,using either over-the-wire or rapid exchange techniques. Catheter 3 mayalso be self-guiding during manual advancement (so that for at least aportion of the advancement of catheter 3, a distal tip of the cathetermay guide manual distal advancement). Automated lateral deflection of adistal portion of the catheter may impose a desired distal steering bendprior to a manual movement, such as near a vessel bifurcation, followedby manual movement through the bifurcation. In addition to such manualmovement modes, catheter system 1 may also have a 3-D automated movementmode using computer controlled articulation of at least a portion of thelength of catheter 3 disposed within the body of the patient to changethe shape of the catheter portion, often to advance or position thedistal end of the catheter. Movement of the distal end of the catheterwithin the body will often be provided per real-time or near real-timemovement commands input by user U, with the portion of the catheter thatchanges shape optionally being entirely within the patient so that themovement of the distal portion of the catheter is provided withoutmovement of a shaft or cable extending through the access site. Stillfurther modes of operation of system 1 may also be implemented,including concurrent manual manipulation with automated articulation,for example, with user U manually advancing the proximal shaft throughaccess site A while computer-controlled lateral deflections and/orchanges in stiffness over a distal portion of the catheter help thedistal end follow a desired path or reduce resistance to the axialmovement.

Referring next to FIG. 1-1 components which may be included in or usedwith catheter system 1 or catheter 3 (described above) can be more fullyunderstood with reference to an alternative catheter system 10 and itscatheter 12. Cather 12 generally includes an elongate flexible catheterbody and is detachably coupled to a handle 14, preferably by aquick-disconnect coupler 16. Catheter body 12 has an axis 30, and aninput 18 of handle 14 can be moved by a user so as to locally alter theaxial bending characteristics along catheter body 12, often for variablyarticulating an actuated portion 20 of the catheter body. Catheter body12 will often have a working lumen 26 into or through which atherapeutic and/or diagnostic tool may be advanced from a proximal port28 of handle 14. Alternative embodiments may lack a working lumen, mayhave one or more therapeutic or diagnostic tools incorporated into thecatheter body near or along actuated portion 20, may have a sufficientlysmall outer profile to facilitate use of the body as a guidewire, maycarry a tool or implant near actuated portion 20 or near distal end 26,or the like. In particular embodiments, catheter body 12 may support atherapeutic or diagnostic tool 8 proximal of, along the length of,and/or distal of actuated portion 20. Alternatively, a separate elongateflexible catheter body may be guided distally to a target site oncecatheter body 20 has been advanced (with the elongate body for such usesoften taking the form and use of a guidewire or guide catheter).

The particular tool or tools included in, advanceable over, and/orintroducible through the working lumen of catheter body 20 may includeany of a wide range of therapeutic and/or treatment structures. Examplesinclude cardiovascular therapy and diagnosis tools (such as angioplastyballoons, stent deployment balloons or other devices, atherectomydevices, tools for detecting, measuring, and/or characterizing plaque orother occlusions, tools for imaging or other evaluation of, and/ortreatment of, the coronary or peripheral arteries, structural hearttools (including prostheses or other tools for valve procedures, foraltering the morphology of the heart tissues, chambers, and appendages,and the like), tools for electrophysiology mapping or ablation tools,and the like); stimulation electrodes or electrode implantation tools(such as leads, lead implant devices, and lead deployment systems,leadless pacemakers and associated deployments systems, and the like);neurovascular therapy tools (including for accessing, diagnosis and/ortreatment of hemorrhagic or ischemic strokes and other conditions, andthe like); gastrointestinal and/or reproductive procedure tools (such ascolonoscopic diagnoses and intervention tools, transurethral proceduretools, transesophageal procedure tools, endoscopic bariatric proceduretools, etc.); hysteroscopic and/or falloposcopic procedure tools, andthe like; pulmonary procedure tools for therapies involving the airwaysand/or vasculature of the lungs; tools for diagnosis and/or treatment ofthe sinus, throat, mouth, or other cavities, and a wide variety of otherendoluminal therapies and diagnoses structures. Such tools may make useof known surface or tissue volume imaging technologies (includingimaging technologies such as 2-D or 3-D cameras or other imagingtechnologies; optical coherence tomography technologies; ultrasoundtechnologies such as intravascular ultrasound, transesophogealultrasound, intracardiac ultrasound, Doppler ultrasound, or the like;magnetic resonance imaging technologies; and the like), tissue or othermaterial removal, incising, and/or penetrating technologies (such arotational or axial atherectomy technologies; morcellation technologies;biopsy technologies; deployable needle or microneedle technologies;thrombus capture technologies; snares; and the like), tissue dilationtechnologies (such as compliant or non-compliant balloons, plasticallyor resiliently expandable stents, reversibly expandable coils, braids orother scaffolds, and the like), tissue remodeling and/or energy deliverytechnologies (such as electrosurgical ablation technologies, RFelectrodes, microwave antennae, cautery surfaces, cryosurgicaltechnologies, laser energy transmitting surfaces, and the like), localagent delivery technologies (such as drug eluting stents, balloons,implants, or other bodies; contrast agent or drug injection ports;endoluminal repaving structures; and the like), implant and prosthesisdeploying technologies, anastomosis technologies and technologies forapplying clips or sutures, tissue grasping and manipulationtechnologies; and/or the like. In some embodiments, the outer surface ofthe articulation structure may be used to manipulate tissues directly.Other examples of surgical interventions which can impose significantcollateral damage, and for which less-invasive endoluminal approachesmay be beneficial, include treatments of the brain (including nervestimulation electrode implantation, neurovascular therapies includingfor diagnosis and/or treatment of hemorrhagic or ischemic strokes andother conditions, and the like); cardiovascular therapies and diagnoses(including evaluation and/or treatments of the coronary or peripheralarteries, structural heart therapies such as valve procedures or closureof atrial appendages, electrophysiology procedures such as mapping andarrhythmia treatments, and the like); gastrointestinal and/orreproductive procedures (such as colonoscopic diagnoses andinterventions, transurethral procedures, transesophageal procedures,endoscopic bariatric procedures, etc.); hysteroscopic and/orfalloposcopic procedures, and the like; pulmonary procedures involvingthe airways and/or vasculature of the lungs; diagnosis and/or treatmentof the sinus, throat, mouth, or other cavities, and a wide variety ofother endoluminal therapies and diagnoses. Unfortunately, knownstructures used for different therapies and/or insertion into differentbody lumens are quite specialized, so that it will often beinappropriate (and possibly ineffective or even dangerous) to try to usea device developed for a particular treatment for another organ system.Non-medical embodiments may similarly have a wide range of tools orsurfaces for industrial, assembly, imaging, manipulation, and otheruses.

Addressing catheter body 12 of system 10 (and particularly articulationcapabilities of actuated portion 20) in more detail, the catheter bodygenerally has a proximal end 22 and a distal end 24 with axis 30extending between the two. As can be understood with reference to FIG.2, catheter body 12 may have a short actuated portion 20 of about 3diameters or less, but will often have an elongate actuated portion 20extending intermittently or continuously over several diameters of thecatheter body (generally over more than 3 diameters, often over morethan 10 diameters, in many cases over more than 20 diameters, and insome embodiments over more than 40 diameters). A total length ofcatheter body 12 (or other flexible articulated bodies employing theactuation components described herein) may be from 5 to 500 cm, moretypically being from 15 to 260 cm, with the actuated portion optionallyhaving a length of from 1 to 150 cm (more typically being 2 to 20 cm)and an outer diameter of from 0.65 mm to 5 cm (more typically being from1 mm to 2 cm). Outer diameters of guidewire embodiments of the flexiblebodies may be as small as 0.012″ though many embodiments may be morethan 2 Fr, with catheter and other medical embodiments optionally havingouter diameters as large as 34 French or more, and with industrialrobotic embodiments optionally having diameters of up to 1″ or more.Exemplary catheter embodiments for structural heart therapies (such astrans-catheter aortic or mitral valve repair or implantation, leftatrial appendage closure, and the like) may have actuated portions withlengths of from 3 to 30 cm, more typically being from 5 to 25 cm, andmay have outer profiles of from 10 to 30 Fr, typically being from 12 to18 Fr, and ideally being from 13 to 16 Fr. Electrophysilogy therapycatheters (including those having electrodes for sensing heart cyclesand/or electrodes for ablating selected tissues of the heart) may havesizes of from about 5 to about 12 Fr, and articulated lengths of fromabout 3 to about 30 cm. A range of other sizes might also be implementedfor these or other applications.

Referring now to FIGS. 1A, 1B, and 1C, system 10 may be configured toarticulate actuated portion 20. Articulation will often allow movementcontinuously throughout a range of motion, though some embodiments mayprovide articulation in-part or in-full by selecting from among aplurality of discrete articulation states. Catheters having opposedaxial extension and contraction actuators are described herein that maybe particularly beneficial for providing continuous controlled andreversible movement, and can also be used to modulate the stiffness of aflexible structure. These continuous and discrete systems share manycomponents (and some systems might employ a combination of bothapproaches).

First addressing the use of a discrete state system, FIG. 1A, system 10can, for example, increase an axial length of actuated portion 20 by oneor more incremental changes in length ΔL. An exemplary structure forimplementation of a total selectable increase in length ΔL can combine aplurality of incremental increases in length ΔL=ΔL₁+ΔL₂+ . . . ), as canbe understood with reference to FIG. 5. As shown in FIGS. 1B and 1C,system 10 may also deflect distal end 24 to a first bent state having afirst bend angle 31 between unarticulated axis 30 and an articulatedaxis 30′ (as shown schematically in FIG. 1B), or to a second bent statehaving a total bend angle 33 (between articulated axis 30 andarticulated axis 30″), with this second bend angle being greater thanthe first bend angle (as shown schematically in FIG. 1C). An exemplarystructure that could optionally be used by combining multiple discretebend angle increments to form a total bend angle 33 (and/or which couldalso provide continuous movement) can be understood with reference toFIG. 4C. Regardless, the additional total cumulative bend angle 33 mayoptionally be implemented by imposing the first bend 31 (of FIG. 1B) asa first increment along with one or more additional bend angleincrements 35. The incremental changes to actuated portion 20 may beprovided by fully inflating and/or deflating actuation balloons of thecatheter system. In fact, some embodiments could even be capable of onlya single bend and/or elongation increment, but would more often havesignificantly more incremental articulation state options beyond thoseshown in FIGS. 1A-1C (and still more often would provide bendingthroughout a continuous range), so that a number of bend angles, bendorientations, axial lengths, and the like can and will often beavailable. For example, system 10 may be configured to provide any of aplurality of discrete alternative total bend angles (often being 3 ormore, 5 or more, 10 or more, 20 or more, or even 40-100 angles, withembodiments providing between 3 and 20 alternative bend angles in agiven lateral orientation), with one of the alternative bend anglestypically comprising a resting or unarticulated angle (optionally beingstraight or having a zero degree bend angle; alternatively having somepreset or physician-imposed bend). Incremental or continuous bendcapabilities may be limited to a single lateral orientation, but willmore typically be available in different lateral orientations, mosttypically in any of 3 or 4 orientations (for example, using balloonspositioned along two pairs of opposed lateral axes, sometimes referredto as the +X, −X, +Y and −Y orientations), and by combining differentbend orientations, in intermediate orientations as well. Continuouspositioning may be implemented using similar articulation structures bypartially inflating or deflating balloons or groups of balloons.

System 10 may also be configured to provide catheter 12 with any of aplurality of discrete alternative total axial lengths. As with the bendcapabilities, such length actuation may also be implemented by inflatingballoons of a balloon array structure. To provide articulation with thesimple balloon array structures described herein, each actuation may beimplemented as a combination of discrete, predetermined actuationincrements (optionally together with one or more partial or modulatedactuation) but may more often be provided using modulated or partialinflation of some, most, or all of the balloons. Hence, regardless ofwhether or not a particular catheter includes such bend-articulationcapabilities, system 10 may be configured to provide catheter 12 with atleast any of a plurality of discrete alternative total axial lengths(often being 3 or more, 5 or more, 10 or more, 20 or more, or even40-100 lengths, with most embodiments providing between 3 and 20alternative total lengths), more typically providing lengths throughoutan elongation range. Nonetheless, embodiments of system 10 can beconfigured to implement each total actuation, in-part or in-full, as acombination of discrete, predetermined actuation increments. Some or allof the discrete actuation increments (and the associated balloon(s)) mayhave an associated location 37 or length segment along axis 30 withinactuated portion 20, optionally an associated lateral X-Y orientation,and/or an associated predetermined incremental actuation amount. Thelateral X-Y orientation of at least some of the actuation increments maybe transverse to the local axis of catheter body 12 (shown as the Z axisin FIG. 1B) and the relationship between the positions of the variousactuation balloons 36 and the lateral deflection axes X-Y can beunderstood with reference to FIG. 4. Regarding the incremental actuationamount, inflation and/or deflation of a particular balloon may becharacterized using an incremental bend angle, an axial offset change,axial elongation displacement, and/or the like. Each actuation increment(including inflation or deflation of one or more balloon) may also havean associated increment actuation time (for full inflation or deflationof the balloon, with these often being different). While these times maybe variably controlled in some embodiments, optionally with controlledvariations in fluid flow (such as ramp-up or ramp downs) during a singleactuation increment, many embodiments may instead use relatively uniformincremental actuation pressures and flow characteristics (optionally viafixed throttled or damped fluid flows into and/or out of the balloons).Nonetheless, controllable (and relatively high) overall distalvelocities may be provided from coordinated timing of the discreteactuation increments along the length of the catheter body, for example,by controlled initiating of inflation of multiple balloons so that atleast a portion of their associated inflation times overlap. Anactuation increment implementation structure (generally one or moreassociated actuation balloons) can be associated with each actuationincrement, with the actuation structure optionally being commanded to bein either an actuated configuration or an unactuated configuration (suchas with the actuation balloon being fully inflated or fully deflated,respectively). Varying of the bend angles may, for example, beimplemented by changing the number of balloons along one side of thecatheter body 12 that are commanded to be fully inflated at a giventime, with each additional balloon inflation incrementally increasingthe overall bend angle. The balloons will often have differingassociated axial locations 37, 37′ along actuated portion 20. This canallow the axial location of a commanded bend increment to be selectedfrom among a plurality of discrete axial locations 37, 37′ by selectionof the associated balloon axial locations to be included in the inflatedgroup, which will typically be less than all of the balloons in anarray. Desired total actuations can be implemented by identifying andcombining a sub-set of bend increments (and/or other actuationincrements) from among the available incremental actuations andinflating the associated sub-set of actuation balloons from among theoverall balloon array or arrays). Hence, along with allowing controlover the total bend angle, appropriate selection of the sub-set fromamong the pre-determined bend increments along actuated portion 20 mayallow control over an average radius of the bend, for example, byaxially distributing or separating the subset of discrete bendincrements over an overall length of the bend. Control over an axiallocation of the overall bend can be provided by selecting the axiallocations of the inflated balloon subset; and control over the lateralX-Y orientation of the total bend can be provided by selecting thesubset from among the differing available incremental lateralorientations so as to combine together to approximate a desiredorientation; and the like.

As suggested above, actuated portion 20 can often be articulated intoany of a plurality of different overall bend profiles with a pluralityof differing bend angles. Additionally, and often substantiallyindependently of the bend angle, actuated portion 20 can be reconfiguredso as to bend in any of a plurality of differing lateral bend directions(in the cross-sectional or X-Y plane, often through a combination ofdiscrete incremental bend orientations), can bend at any of a pluralityof axial locations, and/or can be actuated to bend with any of aplurality of differing overall bend radii. Furthermore, the bendorientation and/or bend radius may controllably differ along the axiallength of actuated portion 20. Interestingly, and contrary to mostcatheter steering systems, some embodiments of the present invention maynot be capable of driving axis 30 of catheter body 20 to intermediatebend angles between sums of the discrete bend increments 31, 35, astotal articulation may be somewhat digital in nature. Note, however,that while some or all of the actuation increments may be uniform, theindividual bend angles and the like may alternatively be non-uniform(such as by including balloons of different sizes within the array), sothat a subset of the pre-determined bend increments can be configured toallow fine-tuning of bend angle and the like. Alternatively, as totalactuation will often be a sum of a series of incremental actuations, oneor more balloons can be configured to provide analog (rather thandigital) articulation, with the analog movement often being sufficientto bridge between discrete digital articulations and thereby providing acontinuous position range. This can be implemented, for example, byconfiguring the system to variably partially inflate one or more of theballoons of the array (rather than relying on full inflation ordeflation) such as by using an associated positive displacement pump.Still more commonly, balloons or groups of balloons may be inflated tovariable pressures throughout a range, providing effectively analogmovement throughout the range of motion of the system.

Conveniently, the overall actuation configuration or state of catheterbody 12 may be described using a plurality of scalar quantities that areeach indicative of the states of associated actuation increments andballoons, with those incremental states optionally being combined todefine an actuation state vector or matrix. Where the actuationincrements are digital in nature (such as being associated with fullinflation or full deflation of a balloon), some or all of the actuationstate of catheter 12 may be described by a digital actuation statevector or matrix. Such digital embodiments (particularly those withoutanalog components) may take advantage of these simple digital statevectors or digital state matrices to significantly facilitate datamanipulations and enhance control signal processing speeds, helping tolessen minimum desired processing capabilities and overall system costs.Note also that many of the resolution, flexibility, and accuracyadvantages of the balloon array systems described above are alsoavailable when all of the balloons of the array are inflatable tovariable inflation states. Hence, some embodiments of the systemsdescribed herein may include fluid control systems that direct modulatedquantities and/or pressures of fluids to multiple balloons along one ormore fluid transmission channels. Control systems for such embodimentsmay employ similar processing approaches, but with the balloon inflationscalar values having variable values in a range from minimal or noeffective inflation to fully inflated.

Referring now to FIGS. 1-1 and 2, embodiments of articulation system 10will move the distal end 24 of catheter 12 toward a desired positionand/or orientation in a workspace relative to a base portion 21, withthe base portion often being adjacent to and proximal of actuatedportion 20. Note that such articulation may be relatively (or evencompletely) independent of any bending of catheter body 12 proximal ofbase portion 21. The location and orientation of proximal base 21(relative to handle 14 or to another convenient fixed or movablereference frame) may be identified, for example, by including knowncatheter position and/or orientation identification systems in system10, by including radiopaque or other high-contrast markers andassociated imaging and position and/or orientation identifying imageprocessing software in system 10, by including a flexible body statesensor system along the proximal portion of catheter body 12, byforegoing any flexible length of catheter body 12 between proximalhandle 14 and actuated portion 20, or the like. A variety of differentdegrees of freedom may be provided by actuated portion 20. Exemplaryembodiments of articulation system 10 may allow, for example, distal end24 to be moved with 2 degrees of freedom, 3 degrees of freedom, 4degrees of freedom, 5 degrees of freedom, or 6 degrees of freedomrelative to base portion 21. The number of kinematic degrees of freedomof articulated portion 20 may be much higher in some embodiments,particularly when a number of different alternative subsets of theballoon array could potentially be in different inflation states to givethe same resulting catheter tip and/or tool position and orientation.

Note that the elongate catheter body 12 along and beyond actuatedportion 20 may (and often should) remain flexible before, during, andafter articulation, so as to avoid inadvertently applying lateral and/oraxial forces to surrounding tissues that are beyond a safe threshold.Nonetheless, embodiments of the systems described herein may locally andcontrollably increase a stiffness of one or more axial portions ofcatheter body 12, along actuated portion 20, proximal of actuatedportion 20, and/or distal of actuated portion 20. Such selectivestiffening of the catheter body may be implemented with or withoutactive articulation capabilities, may extend along one or more axialportion of catheter body 12, and may alter which portions are stiffenedand which are more flexible in response to commands from the user,sensor input (optionally indicating axial movement of the catheter), orthe like.

As shown in FIG. 2, actuated portion 20 may comprise an axial series of2 or more (and preferably at least 3) actuatable sub-portions orsegments 20′, 20″, 20′″, with the segments optionally being adjacent toeach other, or alternatively separated by relatively short (less than 10diameters) and/or relatively stiff intermediate portions of catheter 12.Each sub-portion or segment may have an associated actuation array, withthe arrays working together to provide the desired overall cathetershape and degrees of freedom to the tip or tool. At least 2 of thesub-portions may employ similar articulation components (such as similarballoon arrays, similar structural backbone portions, similar valvesystems, and/or similar software). Commonality may include the use ofcorresponding actuation balloon arrays, but optionally with thecharacteristics of the individual actuation balloons of the differentarrays and the spacing between the locations of the arrays varying forany distal tapering of the catheter body. There may be advantages to theuse of differentiated articulation components, for example, withproximal and distal sub portions, 20′, 20′″ having similar structuresthat are configured to allow selective lateral bending with at least twodegrees of freedom, and intermediate portion 20″ being configured toallow variable axial elongation. In many embodiments, however, at leasttwo (and preferably all) segments are substantially continuous and sharecommon components and geometries, with the different segments havingseparate fluid channels and being separately articulatable but eachoptionally providing similar movement capabilities.

For those elongate flexible articulated structures described herein thatinclude a plurality of axial segments, the systems will often determineand implement each commanded articulation of a particular segment as asingle consistent articulation toward a desired segment shape state thatis distributed along that segment. In some exemplary embodiments, thenominal or resting segment shape state may be constrained to a 3 DOFspace (such as by continuous combinations of two transverse lateralbending orientations and an axial (elongation) orientation in an X-Y-Zwork space). In some of the exemplary embodiments described herein(including at least some of the helical extension/contractionembodiments), lateral bends along a segment may be at leastapproximately planar when the segment is in or near a design axiallength configuration (such as at or near the middle of the axial or Zrange of motion), but may exhibit a slight but increasing off-planetwisting curvature as the segment moves away from that designconfiguration (such as near the proximal and/or distal ends of the axialrange of motion). The off-plane bending may be repeatably accounted forkinematically by determining the changes in lateral orientation ofeccentric balloons resulting from winding and unwinding of helicalstructures supporting those balloons when the helical structuresincrease and decrease in axial length. For example, a segment may becommanded (as part of an overall desired pose or movement) to bend in a−Y orientation with a 20 degree bend angle. If the bend is to occur at adesign axial length (such as at the middle of the axial range ofmotion), and assuming balloons (or opposed balloon pairs) at 4 axialbend locations can be used to provide the commanded bend, the balloons(or balloon pairs) may each be inflated or deflated to bend the segmentby about 5 degrees (thereby providing a total bend of 5*4 or 20 degrees)in the −Y orientation. If the same bend is to be combined with axiallengthening of the segment to the end of its axial range of motion, theprocessor may determine that the segment may would exhibit some twist(say 2 degrees) so that there would be a slight +X component to thecommanded bend, so that the processor may compensate for the twist bycommanding a corresponding −X bend component, or by otherwisecompensating in the command for another segment of the flexible body.

Referring to FIGS. 3 and 5, catheter body 12 of system 10 includes anactuation array structure 32 mounted to a structural skeleton (here inthe form of a helical coil 34). Exemplary balloon array 32 includesfluid expandable structures or balloons 36 distributed at balloonlocations along a flexible substrate 38 so as to define an M×N array, inwhich M is an integer number of balloons distributed about acircumference 50 of catheter 12 at a given location along axis 30, and Nrepresents an integer number of axial locations along catheter 12 havingactuation balloons. Circumferential and axial spacing of the arrayelement locations will generally be known, and will preferably beregular. This first exemplary actuation array includes a 4×4 array for atotal of 16 balloons; alternative arrays may be from 1×2 arrays for atotal of 2 balloons to 8×200 arrays for a total of 1600 balloons (orbeyond), more typically having from 3×3 to 6×20 arrays. While balloonarrays of 1×N may be provided (particularly on systems that rely onrotation of the catheter body to orient a bend), M will more typicallybe 2 or more, more often being from 3 to 8, and preferably being 3 or 4.Similarly, while balloon arrays of M×1 may be provided to allowimposition of a single bend increment at a particular location in any ofa number of different desired lateral orientations, array 32 will moretypically have an N of from 2 to 200, often being from 3 to 20 or 3 to100. In contraction/expansion embodiments described below, multiplearrays may be provided with similar M×N arrays mounted in opposition.Not all array locations need have inflatable balloons, and the balloonsmay be arranged in more complex arrangements, such as with alternatingcircumferential numbers of balloons along the axis, or with varying oralternating separation between balloons along the axial length of thearray.

The balloons of a particular segment or that are mounted to a commonsubstrate may be described as forming an array, with the actuationballoon array structure optionally being used as a sub-array in amulti-segment or opposed articulation system. The combined sub-arraystogether may form an array of the overall device, which may also bedescribed simply as an array or optionally an overall or combined array.Exemplary balloon arrays along a segment or sub-portion of articulatedportion 20 include 1×8, 1×12, and 1×16 arrays for bending in a singledirection (optionally with 2, 3, 4, or even all of the balloons of thesegment in fluid communication with a single common inflation lumen soas to be inflated together) and 4×4, 4×8, and 4×12 arrays for X-Ybending (with axially aligned groups of 2-12 balloons coupled with 4 ormore common lumens for articulation in the +X, −X, +Y, and −Yorientations). Exemplary arrays for each segment having the opposedextension/retraction continuous articulation structures described hereinmay be in the form of a 3×2N, 3×3N, 4×2N, or 4×3N balloons arrays, forexample, 3×2, 3×4, 3×6, 3×8, 3×10, 3×12, 3×14, and 3×16 arrays with 6 to48 balloons, with the 3 lateral balloon orientations separated by 120degrees about the catheter axis. Extension balloons will often beaxially interspersed with contraction balloons along each lateralorientation, with separate 3×N arrays being combined together in a 3×2Nextension/contraction array for the segment, while two extensionballoons may be positioned axially between each contraction balloon for3×3N arrangements. The contraction balloons may align axially and/or bein plane with the extension balloons they oppose, though it may beadvantageous in some embodiments to arrange opposed balloons offset froma planer arrangement, so that (for example) two balloons of one typebalance one balloon of the other, or vice versa. The extension balloonsalong each orientation of the segment may share a common inflation fluidsupply lumen while the contraction balloons of the segment for eachorientation similarly share a common lumen (using 6 fluid supply lumensper segment for both 3×2N and 3×3N arrays). An extension/contractioncatheter may have from 1 to 8 such segments along the articulatedportion, more typically from 1 to 5 segments, and preferably being 2 to4 segments. Other medical and non-medical elongate flexible articulatedstructures may have similar or more complex balloon articulation arrays.

As can be seen in FIGS. 3, 4A, 4B, and 4C, the skeleton will often(though not always) include an axial series of loops 42. When the loopsare included in a helical coil 34, the coil may optionally be biased soas to urge adjacent loops 42 of the coil 34 toward each other. Suchaxially compressive biasing may help urge fluid out and deflate theballoons, and may by applied by other structures (inner and/or outersheath(s), pull wires, etc.) with or without helical compression. Axialengagement between adjacent loops (directly, or with balloon walls orother material of the array between loops) can also allow compressiveaxial forces to be transmitted relatively rigidly when the balloons arenot inflated. When a particular balloon is fully inflated, axialcompression may be transmitted between adjacent loops by the fullyinflated balloon wall material and by the fluid within the balloons.Where the balloon walls are non-compliant, the inflated balloons maytransfer these forces relatively rigidly, though with some flexing ofthe balloon wall material adjacent the balloon/skeleton interface. Rigidor semi-rigid interface structures which distribute axial loads across abroader balloon interface region may limit such flexing. Axial tensionforces (including those associated with axial bending) may be resistedby the biasing of the skeleton (and/or by other axial compressivestructures). Alternative looped skeleton structures may be formed, forexample, by cutting hypotube with an axial series of lateral incisionsacross a portion of the cross-section from one or more lateralorientations, braided metal or polymer elements, or the like. Non-loopedskeletons may be formed using a number of alternative known rigid orflexible robotic linkage architectures, including with structures basedon known soft robot structures. Suitable materials for coil 34 or otherskeleton structures may comprise metals such as stainless steel, springsteel, superelastic or shape-memory alloys such as Nitinol™ alloys,polymers, fiber-reinforced polymers, high-density or ultrahigh-densitypolymers, or the like.

When loops are included in the skeleton, actuation array 32 can bemounted to the skeleton with at least some of the balloons 36 positionedbetween two adjacent associated loops 42, such as between the loops ofcoil 34. Referring now to FIG. 4C, an exemplary deflated balloon 36 i islocated between a proximally adjacent loop 42 i and a distally adjacentloop 42 ii, with a first surface region of the balloon engaging adistally oriented surface of proximal loop 34 i, and a second surfaceregion of the balloon engaging a proximally oriented surface of distalloop 42 ii. The walls of deflated balloon 36 i have some thickness, andthe proximal and distal surfaces of adjacent loops 42 i and 42 iimaintain a non-zero axial deflated offset 41 between the loops. Axialcompression forces can be transferred from the loops through the solidballoon walls. Alternative skeletal structures may allow the loops toengage directly against each other so as to have a deflated offset ofzero and directly transmit axial compressive force, for example byincluding balloon receptacles or one or more axial protrusions extendingfrom one or both loops circumferentially or radially beyond the balloonand any adjacent substrate structure. Regardless, full inflation of theballoon will typically increase the separation between the adjacentloops to a larger full inflation offset 41′. The simplified lateralcross-sections of FIGS. 4B, 4C, and 5 schematically show a directinterface engagement between a uniform thickness thin-walled balloon anda round helical coil loop. Such an interface may result in relativelylimited area of the balloon wall engaging the coil and associateddeformation under axial loading. Alternative balloon-engaging surfaceshapes along the coils (often including locally increased convex radii,locally flattened surfaces, and/or local concave balloon receptacles)and/or along the coil-engaging surfaces of the balloon (such as bylocally thickening the balloon wall to spread the engagement area),and/or providing load-spreading bodies between the balloons and thecoils may add axial stiffness. A variety of other modifications to theballoons and balloon/coil interfaces may also be beneficial, includingadhesive bonding of the balloons to the adjacent coils, including foldsor material so as to inhibit balloon migration, and the like.

Inflation of a balloon can alter the geometry along catheter body 12,for example, by increasing separation between loops of a helical coil soas to bend axis 30 of catheter 12. As can be understood with referenceto FIGS. 1B, 1C and 4-4C, selectively inflating an eccentric subset ofthe balloons can variably alter lateral deflection of the catheter axis.As can be understood with reference to FIGS. 1A, 4, and 5, inflation ofall (or an axisymmetric subset) of the balloons may increase an axiallength of the catheter structure. Inflating subsets of the balloons thathave a combination of differing lateral orientations and axial positionscan provide a broad range of potential locations and orientations of thecatheter distal tip 26, and/or of one or more other locations along thecatheter body (such as where a tool is mounted).

Some or all of the material of substrate 38 included in actuation array32 will often be relatively inelastic. It may, however, be desirable toallow the skeleton and overall catheter to flex and/or elongate axiallywith inflation of the balloons or under environmental forces. Hence,array 32 may have cutouts 56 so as to allow the balloon array to moveaxially with the skeleton during bending and elongation. The arraystructure could alternatively (or in addition) be configured for sucharticulation by having a serpentine configuration or a helical coiledconfiguration. Balloons 36 of array 32 may include non-compliant balloonwall materials, with the balloon wall materials optionally being formedintegrally from material of the substrate or separately. Note thatelastic layers or other structures may be included in the substrate foruse in valves and the like, and that some alternative balloons mayinclude elastic and/or semi-compliant materials.

Referring to FIGS. 3, 4A, and 5, substrate 38 of array 32 is laterallyflexible so that the array can be rolled or otherwise assume acylindrical configuration when in use. The cylindrical array may becoaxially mounted to (such as being inserted into or radially outwardlysurrounding) the helical coil 34 or other structural backbone of thecatheter. The cylindrical configuration of the array will generally havea diameter that is equal to or less than an outer diameter of thecatheter. The opposed lateral edges of substrate 38 may be separated bya gap as shown, may contact each other, or may overlap. Contacting oroverlapping edges may be affixed together (optionally so as to help sealthe catheter against radial fluid flow) or may accommodate relativemotion (so as to facilitate axial flexing). In some embodiments, lateralrolling or flexing of the substrate to form the cylindricalconfiguration may be uniform (so as to provide a continuous lateralcurve along the major surfaces), while in other embodiments intermittentaxial bend regions of the substrate may be separated by axially elongaterelatively flat regions of the substrate so that a cylindrical shape isapproximated by a prism-like arrangement (optionally so as to limitbending of the substrate along balloons, valves, or other arraycomponents).

It will often (though not always) be advantageous to form and/orassemble one or more components of the array structure in a flat,substantially planar configuration (and optionally in a linearconfiguration as described below). This may facilitate, for example,partial or final formation of balloons 36 on substrate 38, oralternatively, attachment of pre-formed balloons to the substrate. Theflat configuration of the substrate may also facilitate the use of knownextrusion or microfluidic channel fabrication techniques to providefluid communication channels 52 so as to selectively couple the balloonswith a fluid inflation fluid source or reservoir 54, and the like. Stillfurther advantages of the flat configuration of the substrate mayinclude the use of electrical circuit printing techniques to fabricateelectrical traces and other circuit components, automated 3-D printingtechniques (including additive and/or removal techniques) for formingvalves, balloons, channels, or other fluid components that will besupported by substrate 38, and the like. When the substrate is in arolled, tubular, or flat planar configuration, the substrate willtypically have a first major surface 62 adjacent balloons 36, and asecond major surface 64 opposite the first major surface (with firstmajor surface 62 optionally being a radially inner or outer surface andsecond major surface 64 being a radially outer or inner surface,respectively, in the cylindrical configuration). To facilitate flexingsubstrate 38 and array 32 into the rolled configuration, relief cuts orchannels may be formed extending into the substrate from the firstand/or second major surfaces, or living hinge regions may otherwise beprovided between relatively more rigid portions of the substrate. Tofurther avoid deformation of the substrate adjacent any valves or othersensitive structures, local stiffening reinforcement material may beadded, and/or relief cuts or apertures may be formed partiallysurrounding the valves. In some embodiments, at least a portion of thearray components may be formed or assembled with the substrate at leastpartially in a cylindrical configuration, such as by bonding layers ofthe substrate together while the substrate is at least locally curved,forming at least one layer of the substrate as a tube, selectivelyforming cuts in the substrate (optionally with a femtosecond,picosecond, or other laser) to form fluid, circuit, or other componentsor allow for axial flexing and elongation (analogous to cutting a stentto allow for axial flexing and radial expansion) and/or to form at leastsome of the channels, and bonding the layers together after cutting.

As can be understood with reference to FIGS. 5-5C, substrate 38 of array32 may include one or more layers 70, 72, 74 . . . of flexible substratematerial. The substrate layers may comprise known flexible and/or rigidmicrofluidic substrate materials, such as polydimethylsiloxane (PDMS),polyimide (PI), polyethylene (PE) and other polyolefins, polystyrene(PS), polyethylene terephthalate (PET), polypropylene (PP),polycarbonate (PC), nanocomposite polymer materials, glass, silicon,cyclic olefin copolymer (COC), polymethyl methacrylate (PMMA),polyetheretherketone (PEEK), polyester, polyurethane (PU), and/or thelike. These and still further known materials may be included in othercomponents of actuation array 32, including known polymers for use inballoons (which will often include PET, PI, PE, polyether block amide(PEBA) polymers such as PEBAX™ polymers, nylons, urethanes, polyvinylchloride (PVC), thermoplastics, and/or the like for non-compliantballoons; or silicone, polyurethane, semi-elastic nylons or otherpolymers, latex, and/or the like for compliant or semi-compliantballoons). Additional polymers than may be included in the substrateassembly may include valve actuation elements (optionally includingshape memory alloy structures or foils; phase-change actuator materialssuch as paraffin or other wax, electrical field sensitive hydrogels,bimetallic actuators, piezoelectric structures, dielectric elastomeractuator (DEA) materials, or the like). Hence, while some embodimentsmay employ homogenous materials for actuation array 32, many arrays andsubstrate may instead be heterogeneous.

Fortunately, techniques for forming and assembling the components foractuation array 32 may be derived from a number of recent (andrelatively widely-reported) technologies. Suitable techniques forfabricating channels in substrate layer materials may include lasermicromachining (optionally using femtosecond or picosecond lasers),photolithography techniques such as dry resist technologies, embossing(including hot roller embossing), casting or molding, xerographictechnologies, microthermoforming, stereolithography, 3-D printing,and/or the like. Suitable 3-D printing technologies that may be used toform circuitry, valves, sensors, and the like may includestereolithography, digital light processing, laser sintering or melting,fused deposition modeling, inkjet printing, selective depositionlamination, electron beam melting, or the like. Assembly of thecomponents of actuation array 32 may make use of laser, thermal, and/oradhesive bonding between layers and other components, though laser,ultrasound, or other welding techniques; microfasteners, or the like mayalso be used. Electrical element fabrication of conductive traces,actuation, signal processor, and/or sensor components carried bysubstrate 38 may, for example, use ink-jet or photolithographytechniques, 3-D printing, chemical vapor deposition (CVD) and/or morespecific variants such as initiated chemical vapor deposition (iCVD),robotic microassembly techniques, or the like, with the electricaltraces and other components often comprising inks and other materialscontaining metals (such as silver, copper, or gold) carbon, or otherconductors. Many suitable fabrication and assembly techniques have beendeveloped during development of microfluidic lab-on-a-chip orlab-on-a-foil applications. Techniques for fabricating medical balloonsare well developed, and may optionally be modified to take advantage ofknown high-volume production techniques (optionally including thosedeveloped for fabricating bubble wrap, for corrugating extruded tubing,and the like). Note that while some embodiments of the actuation arraystructures described herein may employ fluid channels sufficiently smallfor accurately handling of picoliter or nanoliter fluid quantities,other embodiments will include channels and balloons or otherfluid-expandable bodies that utilize much larger flows so as to providedesirable actuation response times. Balloons having at least partiallyflexible balloon walls may provide particular advantages for the systemsdescribed herein, but alternative rigid fluid expandable bodies such asthose employing pistons or other positive displacement expansionstructures may also find use in some embodiments.

The structures of balloons 36 as included in actuation array 32 may beformed of material integral with other components of the array, or maybe formed separately and attached to the array. For example, as shown inFIGS. 5B and 5C, balloons 36 may be formed from or attached to a firstsheet 74 of substrate material that can be bonded or otherwise affixedto another substrate layer 72 or layers. The material of the balloonlayer 74 may optionally cover portions of the channels directly, or maybe aligned with apertures 78 that open through an intermediate substratelayer surface between the channels and the balloons. Apertures 78 mayallow fluid communication between each balloon and at least oneassociated channel 52. Alternative methods for fabricating individualballoons are well known, and the formed balloons may be affixed to thesubstrate 38 by adhesive bonding. Balloon shapes may comprise relativelysimple cylinders or may be somewhat tailored to taper to follow anexpanded offset between loops of a coil, to curve with the cylindricalsubstrate and/or to engage interface surfaces of the skeleton over abroader surface area and thereby distribute actuation and environmentalloads. Effective diameters of the balloons in the array may range fromabout 0.003 mm to as much as about 2 cm (or more), more typically beingin a range from about 0.3 mm to about 2 mm or 5 mm, with the balloonlengths often being from about 2 to about 15 times the diameter. Typicalballoon wall thicknesses may range from about 0.0002 mm to about 0.004mm (with some balloon wall thicknesses being between 0.0002 mm and 0.020mm), and full inflation pressures in the balloons may be from about 0.2to about 40 atm, more typically being in a range from about 0.4 to about30 atm, and in some embodiments being in a range from about 10 to about30 atm, with high-pressure embodiments operating at pressures in a rangeas high as 20-45 atm and optionally having burst pressures of over 50atm.

Referring now to FIG. 5, balloons 36 will generally be inflated using afluid supply system that includes a fluid source 54 (shown here as apressurized single-use cartridge) and one or more valves 90. At leastsome of the valves 90 may be incorporated into the balloon arraysubstrate, with the valves optionally being actuated using circuitryprinted on one or more layers of substrate 38. With or withoutsubstrate-mounted valves that can be used within a patient body, atleast some of the valves may be mounted to housing 14, or otherwisecoupled to the proximal end of catheter 12. Valves 90 will preferably becoupled to channels 52 so as to allow the fluid system to selectivelyinflate any of a plurality of alternative individual balloons or subsetsof balloons 36 included in actuation array 32, under the direction of aprocessor 60. Hence, processor 60 will often be coupled to valves 90 viaconductors, the conductors here optionally including flex circuit traceson substrate 38.

Referring still to FIG. 6, fluid source 54 may optionally comprise aseparate fluid reservoir and a pump for pressurizing fluid from thereservoir, but will often include a simple tank or cartridge containinga pressurized fluid, the fluid optionally being a gas or a gas-liquidmixture. The cartridge will often maintain the fluid at a supplypressure at or above a full inflation pressure range of balloons 36,with the cartridge optionally being gently heated by a resistive heateror the like (not shown) in housing 14 so as to maintain the supplypressure within a desired range in the cartridge during use. Supplypressures will typically exceed balloon inflation pressures sufficientlyto provide balloon inflation times within a target threshold given thepressure loss through channels 52 and valves 90, with typical supplypressures being between 10 and 210 atm, and more typically being between20 and 60 atm. Suitable fluids may include known medical pressurizedgases such as carbon dioxide, nitrogen, oxygen, nitrous oxide, air,known industrial and cryogenic gasses such as helium and/or other inertor noble gasses, refrigerant gases including fluorocarbons, and thelike. Note that the pressurized fluid in the canister can be directedvia channels 52 into balloons 36 for inflation, or the fluid from thecanister (often at least partially a gas) may alternatively be used topressurize a fluid reservoir (often containing or comprising a benignbiocompatible liquid such as water or saline) so that the ballooninflation fluid is different than that contained in the cartridge. Wherea pressurized liquid or gas/liquid mixture flows distally along thecatheter body, enthalpy of vaporization of the liquid in or adjacent tochannels 52, balloons 36, or other tissue treatment tools carried on thecatheter body (such as a tissue dilation balloon, cryogenic treatmentsurface, or tissue electrode) may be used to therapeutically cooltissue. In other embodiments, despite the use of fluids which are usedas refrigerants within the body, no therapeutic cooling may be provided.The cartridge may optionally be refillable, but will often instead havea frangible seal so as to inhibit or limit re-use.

As the individual balloons may have inflated volumes that are quitesmall, cartridges that are suitable for including in a hand-held housingcan allow more than a hundred, optionally being more than a thousand,and in many cases more than ten thousand or even a hundred thousandindividual balloon inflations, despite the cartridge containing lessthan 10 ounces of fluid, often less than 5 ounces, in most cases lessthan 3 ounces, and ideally less than 1 ounce. Note also that a number ofalternative fluid sources may be used instead of or with a cartridge,including one or more positive displacement pumps (optionally such assimple syringe pumps), a peristaltic or rotary pump, any of a variety ofmicrofluidic pressure sources (such as wax or other phase-change devicesactuated by electrical or light energy and/or integrated into substrate38), or the like. Some embodiments may employ a series of dedicatedsyringe or other positive displacement pumps coupled with at least someof the balloons by channels of the substrate, and/or by flexible tubing.

Referring still to FIG. 6, processor 60 can facilitate inflation of anappropriate subset of balloons 36 of actuation array 32 so as to producea desired articulation. Such processor-derived articulation cansignificantly enhance effective operative coupling of the input 18 tothe actuated portion 20 of catheter body 12, making it much easier forthe user to generate a desired movement in a desired direction or toassume a desired shape. Suitable correlations between input commands andoutput movements have been well developed for teleoperated systems withrigid driven linkages. For the elongate flexible catheters and otherbodies used in the systems described herein, it will often beadvantageous for the processor to select a subset of balloons forinflation based on a movement command entered into a user interface 66(and particularly input 18 of user interface 66), and on a spatialrelationship between actuated portion 20 of catheter 12 and one or morecomponent of the user interface. A number of differing correlations maybe helpful, including orientational correlation, displacementcorrelation, and the like. Along with an input, user interface 66 mayinclude a display showing actuated portion 20 of catheter body 12, andsensor 63 may provide signals to processor 60 regarding the orientationand/or location of proximal base 21. Where the relationship between theinput, display, and sensor are known (such as when they are all mountedto proximal housing 14 or some other common base), these signals mayallow derivation of a transformation between a user interface coordinatesystem and a base coordinate system of actuated portion 20. Alternativesystems may sense or otherwise identify the relationships between thesensor coordinate system, the display coordinate system, and/or theinput coordinate system so that movements of the input result incatheter movement, as shown in the display. Where the sensor comprisesan image processor coupled to a remote imaging system (such as afluoroscopy, MRI, or ultrasound system), high-contrast marker systemscan be included in proximal base 21 to facilitate unambiguousdetermination of the base position and orientation. A battery or otherpower source (such as a fuel cell or the like) may be included inhousing 14 and coupled to processor 60, with the housing and catheteroptionally being used as a handheld unit free of any mechanical tetherduring at least a portion of the procedure. Nonetheless, it should benoted that processor 60 and/or sensor 63 may be wirelessly coupled oreven tethered together (and/or to other components such as a separatedisplay of user interface 66, an external power supply or fluid source,or the like).

Regarding processor 60, sensor 63, user interface 66, and the other dataprocessing components of system 10, it should be understood that thespecific data processing architectures described herein are merelyexamples, and that a variety of alternatives, adaptations, andembodiments may be employed. The processor, sensor, and user interfacewill, taken together, typically include both data processing hardwareand software, with the hardware including an input (such as a joystickor the like that is movable relative to housing 14 or some other inputbase in at least 2 dimensions), an output (such as a medical imagedisplay screen), an image-acquisition device or other sensor, and one ormore processor. These components are included in a processor systemcapable of performing the image processing, rigid-body transformations,kinematic analysis, and matrix processing functionality describedherein, along with the appropriate connectors, conductors, wirelesstelemetry, and the like. The processing capabilities may be centralizedin a single processor board, or may be distributed among the variouscomponents so that smaller volumes of higher-level data can betransmitted. The processor(s) will often include one or more memory orstorage media, and the functionality used to perform the methodsdescribed herein will often include software or firmware embodiedtherein. The software will typically comprise machine-readableprogramming code or instructions embodied in non-volatile media, and maybe arranged in a wide variety of alternative code architectures, varyingfrom a single monolithic code running on a single processor to a largenumber of specialized subroutines being run in parallel on a number ofseparate processor sub-units.

Referring now to FIG. 7, an alternative actuation array and fluid supplysystem are shown schematically. As in the above embodiment, balloons 36are affixed along a major surface of substrate 38, optionally prior torolling the substrate and mounting of the actuation array to theskeleton of the catheter body. In this embodiment, each balloon has anassociated dedicated channel 52 of substrate 38, and also an associatedvalve 90. Processor 60 is coupled with valves 90, and by actuating adesired subset of the valves the associated subset of balloons can beinflated or deflated. In some embodiments, each valve can be associatedwith more than one balloon 36, so that (for example), opening of asingle valve might inflate a plurality (optionally 2, 3, 4, 8, 12, orsome other desired number) of balloons, such as laterally opposedballoons so as to elongate the distal portion of the catheter. In theseor other embodiments, a plurality of balloons (2, 3, 4, 5, 8, 12, oranother desired number) on one lateral side of the catheter could be influid communication with a single associated valve 90 via a commonchannel or multiple channels so that opening of the valve inflates theballoons and causes a multi-balloon and multi-increment bend in the axisof the catheter. Still further variations are possible. For example, insome embodiments, channels 52 may be formed at least in-part by flexibletubes affixed within an open or closed channel of substrate 38, or gluedalong a surface of the substrate. The tubes may comprise polymers (suchas polyimide, PET, nylon, or the like), fused silica, metal, or othermaterials, and suitable tubing materials may be commercially availablefrom Polymicro Technologies of Arizona, or from a variety of alternativesuppliers. The channels coupled to the proximal end of the actuatablebody may be assembled using stacked fluidic plates, with valves coupledto some or all of the plates. Suitable electrically actuated microvaluesare commercially available from a number of suppliers. Optionalembodiments of fluid supply systems for all balloon arrays describedherein may have all values mounted to housing 14 or some other structurecoupled to and/or proximal of) the proximal end of the elongate flexiblebody. Advantageously, accurately formed channels 52 (having sufficientlytight tolerance channel widths, depths, lengths, and/or bends or otherfeatures) may be fabricated using microfluidic techniques, and may beassembled with the substrate structure, so as to meter flow of theinflation fluid into and out of the balloons of all of the actuationarrays described herein.

A number of inflation fluid supply system component arrangements for usein any or all of the articulation, stiffening, and/or bend controlsystems described herein can be understood with reference to FIGS. 8-13.As noted above, the valves, ports, and the like may be included in aproximal housing, may be incorporated into a substrate of the balloonarray, or a combination of both. First addressing a simple inflationcontrol arrangement 240 of FIG. 8, a single on/off gate valve 242 may bealong a fluid flow path between a fluid source 244 and a balloon 246. Alimited flow exhaust port 248 remains open, and opening of valve 242allows sufficient fluid from the source to inflate balloon despite alimited flow of fluid out of limited port 248, which can have an orificeor other fixed flow restriction. When gate valve 242 is closed, flow outof the limited port 248 allows the balloon to deflate. The two-valvearrangement 250 of FIG. 9 uses two separate gate valves 242 toindependently control flow into and out of the balloon, thereby limitingthe loss of fluid while the balloon remains inflated and also preventingdeflation speed from being limited more than might otherwise be desired.While the inflow channel into the balloon and out of the balloon areshown as being separate here, both valves may instead be coupled to theinflow channel, with the deflation valve typically being between theinflation valve and the balloon.

A two-way valve arrangement 260 is shown in FIG. 10, with a two wayvalve 262 having a first mode that provides fluid communication betweensupply 244 and balloon 246, and a second mode that provides fluidcommunication between the balloon and an exhaust port 264 (while thesupply is sealed to the port and balloon).

A ganged-balloon arrangement 270 is shown in FIG. 11, with a two wayvalve 262 between supply 244 and a plurality of balloons 272, 274, 276,. . . . Such an arrangement allows a number (typically between 2 and 10balloons) to be inflated and deflated using a single valve, which may beused when a subset of balloons are often to be inflated, such as forelongation of an axial segment, for imposing a desired base curvature(to which other incremental axial bend components may be added), forimposing multi-balloon incremental axial bend components or the like.

A transfer-bend valve arrangement 280 is shown in FIG. 12, with two wayvalves 262 i, 262 ii each allowing inflation of an associated balloon246 i, 246 ii, respectively. Additionally, a transfer gate valve 242between balloons 246 i and 246 ii allows inflation fluid to flow fromone (or more) balloon to another (one or more) balloon. This may allow,for example, a bend associated with one balloon to be transferredpartially or fully to a bend associated with a different balloon inresponse to environmental forces against the flexible body, such as whena catheter is pushed axially within a bent body lumen (so that the bendtransfers axially), when a catheter is rotated within a bent body lumen(so that the bend transfers laterally), a combination of the two, or thelike. A transfer valve may also be used, for example, help determine acatheter shape that limits forces imposed between a surrounding lumenalwall and the catheter structure. For this (and potentially otheradvantageous uses) a valve may be opened between a full-inflationpressure source and one or more balloon to initially inflate suchballoon(s) so that the catheter is urged toward an initial state. Atleast one transfer valve may be opened between the inflated balloon(s)and one or more uninflated balloons so as to drive the catheterconfiguration having a bend. If the tissue surrounding the bend (andinternal balloon compression structures of the catheter) urge deflationof the inflated balloons with sufficient force, and if the surroundingtissue urge the catheter to assume another bend associated with thoseuninflated balloon(s) so as to mitigate the internal balloon compressionstructures of the catheter, inflation fluid can be forced from theinflated balloon(s) to the uninflated balloon(s), and the catheter canthen allow the tissue to assume a more relaxed shape. Interestingly,changes in the catheter bend configuration associated with inflationfluid flowing between balloons may at least in part be pseudo-plastic,with fluid flow resistance limiting elastic return to the prior state.Use of a flow modulating transfer valve (as opposed to a simple on/offgate valve) may allow corresponding modulation of this pseudo-plasticbend state change. Alternatively, a transfer valve and associatedchannel may have a tailored flow resistance (such as an orifice orcontrolled effective diameter section) to tailor the pseudo-plasticproperties.

A multi-pressure valve arrangement 290 is shown in FIG. 13, in which atwo-way valve allows inflation or deflation of an associated balloonfrom a full inflation supply 244 i as described above. Alternatively, apartial inflation fluid supply 244 ii can direct fluid at a lower(optionally fixed) partial inflation pressure to the same balloon. Thepartial inflation pressure may be insufficient to overcome the bias ofthe helical coil and the like toward balloon deflation and astraight-coil configuration, and thus may not alone bend the flexiblebody (absent tissue or other environmental forces against the catheter),but can selectively reduce the strength of the catheter against a bendassociated with the partially inflated balloon. Alternatively, thepressure may be sufficient to partially inflate the balloon and induce aportion of a full-inflation bend. Regardless, one or more partialinflation fluid supply pressures may be provided using one or moreassociated valves, with the inflation fluid being a one or moreincremental pressures between a full balloon inflation pressure andatmospheric pressure. Note that partial inflation may alternatively beprovided by modulating a variable valve for a limited inflation time soas to control total fluid flow quantity to one or more balloons, bycontrolling one or more on/off pulse cycles times of a gate valve, orthe like. Still other combinations of inflation fluid directingcomponents may be included in many embodiments, with at least some ofthe components (and particularly channels between the valves and theballoons) being integrated into the balloon array, at least some of thecomponents (particularly the pressurized fluid canister or other source)being in a proximal housing coupled to a proximal end of the catheter orother flexible body, and others (portions of the channels, valves,ports, valve actuation circuitry, etc.) being in either or distributedin both. In some embodiments, a non-actuating positive inflation fluidpressure (greater than the atmosphere surrounding the balloon array butinsufficient to separate loops of a coil) may be maintained in some orall of the balloons that are in a nominally non-inflated state. This maypre-inflate the balloons so that the fluid partially fills the balloonand the balloon wall expands where it does not engage the coil,decreasing the quantity of fluid that flows to the balloon to achievefull inflation.

A wide variety of desirable inflation fluid supply system capabilitiescan be provided using one or more valve component arrangements describedabove. For example, rather than including a separate partial inflationpressure fluid supply, a transfer valve can be used to first fullyinflate a first balloon, after which a transfer valve can be used totransfer a portion of the fluid from the inflated balloon to one or moreother balloons, resulting in gang partial inflation of multipleballoons. A fluid supply system may have a network of channels with acombination of inflation gate valves and deflation gate valves so as toallow selective inclusion of any of a plurality of individual balloonsin an inflated subset, selected ganged balloons that pre-define some orall of the members of subsets that will be used simultaneously, and thelike.

Referring now to FIGS. 14A-16, a still further embodiment of anarticulated catheter includes first and second interleaved helicalmulti-lumen balloon fluid supply/support structures 440 a, 440 b, alongwith first and second resilient helical coils 442 a, 442 b. In thisembodiment, a series of balloons (not shown) are mounted around each ofthe multi-lumen structures, with the balloons spaced so as to be alignedalong three lateral bending orientations that are offset from each otheraround the axis of the catheter by 120 degrees. Six lumens are providedin each multi-lumen structure, 440 a, 440 b, with one dedicatedinflation lumen and one dedicated deflation lumen for each of the threelateral bending orientations. Radial fluid communication ports betweenthe lumens and associated balloons may be provided by through cutsthrough pairs of the lumens.

By spacing the cuts 444 a, 444 b, 444 c, as shown, and by mountingballoons over the cuts, the inflation and deflation lumens can be usedto inflate and deflate a subset of balloons aligned along each of thethree bending orientations. Advantageously, a first articulated segmenthaving such a structure can allow bending of the catheter axis in anycombination of the three bend orientations by inflating a desired subsetof the balloons along that segment. Optionally, the bend angle for thatsubset may be controlled by the quantity and/or pressure of fluidtransmitted to the balloons using the 6 lumens of just one multi-lumenstructure (for example, 440 a), allowing the segment to function in amanner analogous to a robotic wrist. Another segment of the catheteraxially offset from the first segment can have a similar arrangement ofballoons that are supplied by the 6 lumens of the other multi-lumenstructure (in our example, 440 b), allowing the catheter to position andorient the end of the catheter with flexibility analogous to that of aserial wrist robotic manipulators. In other embodiments, at least someof the balloons supplied by the two multi-lumen structures may axiallyoverlap, for example, to allow increasing bend angles and/or decreasingbend radii by combining inflation of overlapping subsets of theballoons. Note also that a single lumen may be used for both inflationand deflation of the balloons, and that multi-lumen structures of morethan 6 lumens may be provided, so that still further combinations thesedegrees of freedom may be employed.

In the embodiment illustrated in the side view of FIG. 14A and in thecross-section of FIG. 15, the outer diameter of the helical coils isabout 0.130 inches. Multi-lumen structures 440 a, 440 b have outerdiameters in a range from about 0.020 inches to about 0.030 inches(optionally being about 0.027 inches), with the lumens having innerdiameters of about 0.004 inches and the walls around each lumen having aminimum thickness of 0.004 inches. Despite the use of inflationpressures of 20 atm or more, the small diameters of the lumens helplimit the strain on the helical core structures, which typicallycomprise polymer, ideally being extruded. Rather than including aresilient wire or the like in the multi-lumen structure, axialcompression of the balloons (and straightening of the catheter axisafter deflation) is provided primarily by use of a metal in coils 442 a,442 b. Opposed concave axial surfaces of coils 442 help maintain radialpositioning of the balloons and multi-lumen structures between thecoils. Affixing the ends of resilient coils 442 and balloonsupply/support structures 440 together to the inner and outer sheaths atthe ends of the coils, and optionally between segments may help maintainthe helical shapes as well. Increasing the axial thickness of coils 442and the depth of the concave surfaces may also be beneficial to helpmaintain alignment, with the coils then optionally comprising polymerstructures. Still other helical-maintaining structures may be includedin most or all of the helical embodiments described herein, includingperiodic structures that are affixed to coils 442 or other helicalskeleton members, the periodic structures having protrusions that extendbetween balloons and can engage the ends of the inflated balloon wallsto maintain or index lateral balloon orientations.

Many of the embodiments described herein provide fluid-drivenarticulation of catheters, guidewires, and other elongate flexiblebodies. Advantageously, such fluid driven articulation can rely on verysimple (and small cross-section) fluid transmission along the elongatebody, with most of the forces being applied to the working end of theelongate body reacting locally against the surrounding environmentrather than being transmitted back to a proximal handle or the like.This may provide a significant increase in accuracy of articulation,decrease in hysteresis, as well as a simpler and lower cost articulationsystem, particularly when a large number of degrees of freedom are to beincluded. Note that the presence of relatively high pressure fluid,and/or low temperature fluid, and/or electrical circuitry adjacent thedistal end of an elongate flexible body may also be used to enhance thefunctionality of tools carried by the body, particularly by improving oradding diagnostic tools, therapeutic tools, imaging or navigationstools, or the like.

Referring now to FIGS. 17A and 17B, articulation system componentsrelated to those of FIGS. 14A-16 can be seen. Two multi-lumen polymerhelical cores 440 can be interleaved with axially concave helicalsprings along the articulated portion of a catheter. Curved transitionzones extend proximal of the helical cores to axially straightmulti-lumen extensions 540, which may extend along a passive(unarticulated) or differently articulated section of the catheter, orwhich may extend through articulated segments that are driven by fluidtransmitted by other structures (not shown). Advantageously, a portionof each proximal extension 540 near the proximal end can be used as aproximal interface 550 (See FIG. 17C), often by employing an axialseries of lateral ports formed through the outer walls of themulti-lumen shaft into the various lumens of the core. This proximalinterface 550 can be mated with a receptacle 552 of a modular valveassembly 542, or with a receptacle of non-modular valve assembly, orwith a connector or interface body that couples to a manifold so as toprovide sealed, independently controlled fluid communication and acontrolled flow of inflation fluid to desired subsets of the balloonsfrom a pressurized inflation fluid source, along with a controlled flowof exhaust fluid from the balloons to the atmosphere or an exhaust fluidreservoir.

Extensions 540 extend proximally into a valve assembly 542 so as toprovide fluid communication between fluid pathways of the valve assemblyand the balloons of the articulated segment. Valve assembly 542 includesan axial series of modular valve units 542 a, 542 b, 542 c, etc.Endplates and bolts seal fluid paths within the valve assembly and holdthe units in place. Each valve unit of assembly 542 includes at leastone fluid control valve 544, and preferably two or more valves. Thevalves may comprise pressure modulating valves that sense and controlpressure, gate valves, three-way valves (to allow inflation fluid alonga channel to one or more associated balloons, to seal inflation fluid inthe inflation channel and associated balloons while flow from the fluidsource is blocked, and to allow inflation fluid from the channels andballoons to be released), fluid dispersing valves, or the like. O-ringsprovide sealing between the valves and around the extensions 540, andunthreading the bolts may release pressure on the O-rings and allow theextensions to be pulled distally from the valve assembly, therebyproviding a simple quick-disconnect capability. Radial ports 546 areaxially spaced along extensions 540 to provide fluid communicationbetween the valves and associated lumens of the multi-lumen polymerextensions, transitions, and helical coils. Advantageously, where agreater or lesser number of inflation channels will be employed, more orfewer valve units may be axially stacked together. While valves 544 arehere illustrated with external fluid tubing connectors (to be coupled tothe fluid source or the like), the fluid paths to the valves mayalternatively also be included within the modular valve units, forexample, with the fluid supply being transmitted to each of the valvesalong a header lumen that extends axially along the assembly and that issealed between the valve units using additional O-rings or the like.Note that while modular units 542 a, 542 b, . . . may comprise valves,in alternative embodiments these units may simply comprise ferrules,posts, or other interface structures that allow the assembly to be usedas a connector or interface body that helps provide fluid communicationbetween the multi-lumen shaft or core and some of the components of thefluid supply system.

Referring now to FIG. 17C, additional modular valve units 542 d, 542 e,and 542 f are included in the valve and manifold assembly 542′ so asfacilitate independent control of inflation fluid flows to and fromlumens of the multi-lumen cores. The modular valve units are preferablyinterchangeable, and will often include electrical circuitry and apressure sensor for each inflation lumen, along with the valves, platestructures, and channels. The electrical circuitry for each plate willoften be supported by a flex circuit substrate and may optionally beadhesively bonded to one of the major surfaces of the plates, or it maybe between layers of the plate or held compressively between plates.Along with conductive traces for communication between the valves,sensors, and system processor, the flex circuit may also supportelectronics to facilitate multiplexing among the plate modules,plug-and-play plate module capabilities, daisy chaining or networking ofthe plate modules, and/or the like. In exemplary embodiments describedbelow, the flex circuits substrate may also support (and help provideelectrical coupling with MEMS valves and/or MEMS pressure sensors. Theflex circuit substrate or another film substrate material may optionallyhelp support O-rings, gaskets, or other seal materials surroundingpassages through the plates (or layers thereof), including passages thatform receptacles 552, inflation headers, deflation headers, and thelike; though some or all of the seals for these structures may insteadbe independently positioned. As noted above, one or morequick-disconnect fitting 554 may be configured to help seal the ports ofthe multi-lumen shaft (or of an intermediate body) to the fluid channelsof the plates. Where the ports are included on a shaft that extendsthrough the plates, the quick-disconnect fitting may take the form of acompression member that is manually movable between a detachableconfiguration (in which little or no compression is applied betweenplates) and a sealed configuration (in which sufficient compression isapplied between plates to squeeze seal material from between the platesof the stack and against the shafts). The quick-disconnect fitting maycomprise one or more over-center latch, one or more threaded connector,one or more cam unit, or the like.

Referring now to FIG. 18, a simplified manifold schematic shows fluidsupply and control components of an alternative manifold 602. Asgenerally described above, manifold 602 has a plurality of modularmanifold units or valve assembly plates 604 i, 604 ii, . . . stacked inan array. The stack of valve plates are sandwiched between a front endcap 606 and a back end-cap 608, and during use the proximal portion ofthe multi-lumen conduit core(s) extend through apertures in the frontcap and valve plates so that the proximal end of the core is adjacent toor in the back cap, with the apertures defining a multi-lumen corereceptacle. The number of manifold units or modules in the stack issufficient to include a plate module for each lumen of each of themulti-lumen core(s). For example, where an articulatable structure has 3multi-lumen core shafts and each shaft has 6 lumens, the manifoldassembly may include a stack of 6 plates. Each plate optionally includesan inflation valve and a deflation valve to control pressure in one ofthe lumens (and the balloons that are in communication with that lumen)for each multi-lumen shaft. In our 3-multi-lumen shaft/6 lumen eachexample, each plate may include 3 inflation valves (one for a particularlumen of each shaft) and 3 deflation valves (one for that same lumen ofeach shaft). As can be understood with reference to the multi-lumenshaft shown in receptacle 1 of FIG. 18, the spacing between the portsalong the shaft corresponds to the spacing between the fluid channelsalong the receptacle. By inserting the core shaft fully into themulti-lumen shaft receptacle, the plate channel locations can beregistered axially with the core, and with the ports that were drilledradially from the outer surface of the multi-lumen core. The processorcan map the axial locations of the valves along the receptacle with theaxial locations of the ports along the core shafts, so that a port intoa particular lumen of the core can be registered and associated with afluid channel of specific inflation and deflation valves. One or moreinflation headers can be defined by passages axially through thevalve-unit plates; a similar deflation header (not shown) can also beprovided to monitor pressure and quantity of fluid released from thelumen system of the articulated device. O-rings can be provided adjacentthe interface between the plates surrounding the headers andreceptacles. Pressure sensors (not shown) can monitor pressure at theinterface between each plate and the multi-lumen receptacle.

Along with monitoring and controlling inflation and deflation of all theballoons, manifold 602 can also include a vacuum monitor system 610 toverify that no inflation fluid is leaking from the articulated systemwithin the patient body. A simple vacuum pump (such as a syringe pumpwith a latch or the like) can apply a vacuum to an internal volume orchamber of the articulated body surrounding the balloon array.Alternative vacuum sources might include a standard operating roomvacuum supply or more sophisticated powered vacuum pumps. Regardless, ifthe seal of the vacuum chamber degrades the pressure in the chamber ofthe articulated structure will increase. In response to a signal from apressure sensor coupled to the chamber, a shut-off valve canautomatically halt the flow of gas from the canister, close all ballooninflation valves, and/or open all balloon deflation valves. Such avacuum system may provide worthwhile safety advantages when thearticulated structure is to be used within a patient body and theballoons are to be inflated with a fluid that may initially take theform of a liquid but may vaporize to a gas. A lumen of a multi-lumencore shaft may be used to couple a pressure sensor of the manifold to avacuum chamber of the articulated structure via a port of the proximalinterface and an associated channel of the manifold assembly, with thevacuum lumen optionally comprising a central lumen of the multi-lumenshaft and the vacuum port being on or near the proximal end of themulti-lumen shaft.

Referring now to FIGS. 18A-18C, an exemplary alternative modularmanifold assembly 556 has fluid supply and deflation exhaust channelsthat are internal to a stack of plate modules 558. Plate modules 558 arestacked between a front end cap and a back end cap, with the front endcap being at the distal end and having passages or apertures forreceiving each of the multi-lumen shafts, and the back end being at theproximal end and having a socket for receiving a canister 560 of N2O. Asseen most clearly in FIG. 18B, each plate module 558 includes a plate562 formed using multiple plate layers 562 a, 562 b, 562 c . . . . Whilethe plate layers shown here extend across the stack, other layers may bestacked axially along the stack. Regardless, each plate 562 has opposedproximal and distal major surfaces 562 i, 562 ii. A series of passagesextend through the plate between the major surfaces, including one ormore inflation fluid passage 564, one or more receptacle passages 566,and one or more deflation fluid passages 568. When the plates and endcaps are assembled within manifold assembly 556, these passages combineto form one or more inflation header 564′, one or more receptacle 566′,and one or more deflation header 568′, with each of the passagesproviding surfaces that serve as a portion of the assembled structure.Channels 570 extend within plates 562 between the headers 564, 568 andthe receptacle, with inflation valves disposed along the channelsbetween the inflation header 564 and receptacle 566 and deflation valvesdisposed along the channels between the receptacles and the deflationheaders 568. Note that the manifold assembly of FIGS. 18A-18C includesmulti-coil three way valves 572 that function as both inflation valvesand deflation valves, with two three way valves for two multi-lumen coreshafts.

Referring now to FIGS. 18C and 18D, additional optional components ofthe manifold assembly can be understood. The functionality of one, some,or all of these components may be included in any of the manifoldassembly embodiments described herein. Back end cap 574 here includes asystem fluid supply valve 576 disposed along channels coupling theinflation fluid canister 560 with the inflation header 564. Note thatthe end cap may include one or more cross headers to allow separateinflation or exhaust headers for the different multi-lumen core shafts.The system supply valve may halt or allow all of the fluid flow to theremaining components of the manifold and articulation structure. In someembodiments, fluid from canister 560 is used to pressurize a supplyplenum, with a pressure sensor and the system supply valve being used tocontrol the supply plenum pressure. This may be beneficial if it isdesired to use a non-volatile balloon inflation liquid such as saline orthe like, and/or if it is desired to preclude inflation of the balloonsabove a pressure that is below that of canister 560. However,transmitting inflation fluid directly from canister 560 to the inflationvalves of the modular plates may present advantages, including enhancedinflation fluid flows through the small channels of the manifold andarticulated structure when transmitting liquid or a liquid/gas mixtureusing the full canister pressure, as well as the relatively constantpressure that can be provided by vaporization of liquid within thecanister. To keep the gas/liquid inflation fluid pressure within thecanister even more constant, a resistive heater may be thermally coupledwith the outer surface of the canister so as to compensate for theenthalpy of vaporization that occurs therein.

Referring still to FIGS. 18C and 18D, there may be more significantadvantages to having an exhaust plenum 578 between one, some or all ofthe exhaust channels (often between the one or more exhaust header 568)and an exhaust port 580 to atmosphere. A pressure sensor or flow sensorcoupled with exhaust plenum 578 can be used to monitor exhaust fluidflow. In some embodiments, a pressure sensor coupled to exhaust plenum578 and an exhaust valve along a channel coupling the exhaust plenum tothe exhaust port 580 can be used as a back-pressure control system tohelp control exhaust flows, to provide a uniform pressure to a number ofballoons (via the deflation valves), or and/or to calibrate theindividual pressure sensors of the plate modules. Manual release valvesmay optionally be included between the inflation and deflation headersand the surrounding environment to allow the system to be fullydepressurized in case of failure of a valve or the like.

Referring now to FIG. 18E, a simplified pressure control schematicillustrates some of the components of a pressure control system as usedto control the pressure in a single channel of a single plate module (aswell as in an associated balloon or balloons coupled with the channelvia a port of a multi-lumen shaft sealed in fluid communication with thechannel. Pressure control of all the channels may be maintained by thesystem controller 582, with the desired pressures typically beingdetermined by the controller in response to a movement or stiffnesscommand input by the user via a user interface 584. A pressuredifference or error signal for a particular channel is determined from adifference between a sensed pressure (as determined using a pressuresensor 586) and the desired pressure for that channel. In response tothe error signal, controller 582 transmits commands to an inflationvalve 588 and/or a deflation valve 589 so as to raise or lower thepressure in the channel. Though the same fluid is flowing to and fromthe balloons, there may be significant differences between the flowsfrom the canister through inflation valve 588 (which may compriseliquid, often being primarily liquid or even substantially entirelyliquid) and the flows from the balloons through deflation valve 589(which may comprise gas, often being primarily gas or even substantiallyentirely gas). To provide accurate inflation and deflation flow control,there may be advantages to including an inflation orifice between theinflation valve and the receptacle (ideally so as to inhibitvaporization prior to the inflation valve), and/or to including adeflation orifice between the receptacle and the deflation header 568.Such orifices may facilitate accurate flow control despite the use ofsimilar valve structures for use as inflation valve 588 and deflationvalve 589. There may, however, be beneficial differences between theinflation and deflation valves, including the use of normally closedvalves for inflation and normally open valves for deflation (so theballoons will deflate if there is a power failure). Additionally,inflation valve 588 may have a smaller throat and/or a fast response tocontrollably transmit small volumes of liquid (optionally 50 nl or less,often 25 nl or less, and preferably 15 nl or less, and ideally 10 nl orless to provide desirably small movement increments); while deflationvalve 589 will allow gas flows of at least 0.1 scc/s, preferably beingat least 0.5 scc/s or even 1 scc/s or more (to provide desirably fastarticulation response). Hence, the throat sizes of these two valves maybe different in some embodiments. Note that in some embodiments(particularly those with a pressure-controlled plenum between a canisterand the inflation valves, or those having non-cryogenic pressurizedfluid sources), the fluids flowing to and from may be more similar, forexample, with liquid flowing to and from the balloons, gas flowing toand from the balloons, or the like.

Referring to FIGS. 18F and 18G, it may be desirable to use a manifoldassembly (or components thereof) with a number of different types ofarticulatable structures, for example with catheters having differentsizes and/or shapes of multi-lumen shafts. Toward that end, it may bebeneficial to include an interface body 590 for coupling a multi-lumencore shaft 592 (or other lumen-contain substrate) of the articulatablestructure with a receptacle 566 of a manifold assembly 556. Interfacebody 590 has a proximal end and a distal end with an axial lumenextending therebetween. The axial lumen receives a multi-lumen shaftproximally, and the shaft may extend entirely through the interface body(so that registration between the ports of the shaft and the channels ofthe plate modules relies on engagement of the shaft with a surface ofthe back cap as shown in FIG. 18G, the receptacle comprising a blindhole) or the proximal end of the shaft may engage a bottom of the lumenin the interface body (so that the interface body is registered with thereceptacle and the lumen is registered with the interface body). A quickdisconnect fitting 592 is near the distal end of the interface body.Interface body 590 comprises a set of relatively rigid annularstructures or rings 594 (optionally comprising metal or a relativelyhigh-durometer polyme) interleaved with elastomeric seal material 596(optionally overmolded on the rings or the like). Indentationsoptionally run circumferentially around the inner and outer surfaces inthe middle of each ring, and one or more gas passages run radiallybetween an inner surface of the ring and an outer surface of the ring,optionally between the indentations. Features may be included on theaxial ends of the rings to inhibit separation of the body into axialsegments.

Referring still to FIGS. 18F and 18G, the receptacle of the manifold mayoptionally comprise a smooth blind hole that extends through all valveplates of the stack. The valve plates may have fluid channels runninginto and out of the receptacle between the plate/plate borders. Afeature of the manifold will often facilitate coupling, here being ashort threaded tube that extends distally from the manifold around theopening of the receptacle. This feature mates with quick-disconnectfitting 592, shown as a wing-nut to affix the interface body and themullti-lumen shaft to the manifold. To connect the catheter to themanifold, the user inserts the multi-lumen shaft into the interfacebody, slides them both together into the receptacle of the manifold tillthe proximal end of the shaft hits the bottom of the receptacle (or tillthe interface body engages a registration feature). The user can engageand tightens the threads which axially compresses the connector shaft,causing the elastomeric seal material 596 to bulge inward (to sealaround the multi-lumen shaft) and outward (to seal around the interfacebody), separating the receptacle into an axial series of sealed zones,one for each plate. Different interface bodies having different innerdiameters and/or different inner cross-sections can be made fordifferent shaft sizes and shapes. A single thread, fastener, or latchmay optionally apply axial pressure to seal around a plurality ofmulti-lumen shafts, or separate quick-disconnect fittings may beincluded for each shaft.

Referring now to FIG. 19, a further alternative manifold structure 620includes a stack of valve unit plates 622 in which each valve unit isformed with three layers 624, 626, 628. All the layers include axialpassages, and these passages are aligned along the axis of the insertedmulti-lumen core shafts to define multi-lumen receptacles, inflationheaders, deflation headers, and the like. First layer 624 includes valvereceptacles containing discrete microelectromechanical system (MEMS)valves, which may be electrically coupled to the processor and/ormounted to the plate layer using a flex circuit adhesively bonded to theback side of the layer (not shown), with the flex circuit optionallyhaving O-rings mounted or formed thereon to seal between adjacent valveunit plates. Second valve layer 626 may have through-holes coupled bychannels to provide flow between the valve ports, headers, andmulti-lumen receptacles, and may be sealingly bonded between third platelayer 628 and first plate layer 624 (optionally with O-rings engagingthe valves around the valve ports. Suitable MEMS valves may be availablefrom DunAn Microstaq, Inc., of Texas, NanoSpace of Sweeden, Moog ofCalifornia, or others. The assembled modular valve-unit stack may havedimensions of less than 2½″×2½″×2″ for a two or three multi-lumen coresystem having 12 lumens per core (and thus including 36 separatelycontrollable lumen channels, and having an inflation valve and adeflation valve for each lumen for a total of at least 64 valves). Platelayers 624, 626, 628 may comprise polymers (particularly polymers whichare suitable for use at low temperatures (such as PTFE, FEP, PCTFE, orthe like), metal (such as aluminum, stainless steel, brass, alloys, anamorphous metal alloy such as a Liquidmetal™ alloy, or the like), glass,semiconductor materials, or the like, and may be mechanically machinedor laser-micromachined, 3D printed, or patterned usingstereolithography, but will preferable be molded. Alternative MEMS valvesystems may have the valve structure integrated into the channel platestructure, further reducing size and weight.

Referring to FIGS. 19A and 19B, additional features that can be includedin the plate layer structure of MEMS manifold 620 can be understood.Many of the channels, passages, and features shown here are forinterfacing with a single multi-lumen shaft for simplicity; additionalfeatures may be included for additional shafts. As control over thefluid channels may benefit from pressure sensors coupled with thechannels of each plate module, an aperture for a MEMS pressure sensor625 is included in first plate 624, with an associated channel 627(extending between the receptacle and a pressure sensing region of thepressure sensor) being included in second plate 626. Suitable pressuresensors may be commercially available from Merit Sensor Systems and anumber of alternative suppliers. As the pressure sensor and the valvemay have different thicknesses, it may be beneficial to separate firstlayer 624 into two layers (with the aperture for the thicker componentsprovided in both, and the aperture for the thinner component only beingprovided through one). As the pressure sensor may benefit from anexternal reference pressure, a relief channel may be formed in thirdplate 628 extending from a reference pressure location on the sensor toan external port. As can be understood with reference to FIG. 19B, thelayers combine to form a plate structure 562″, with each plate havingopposed proximal and distal major surfaces. The plates (and thecomponents supported thereon to make up the plate modules) can bestacked to form the modular manifold array.

Many of the flexible articulated devices described above rely oninflation of one or more balloons to articulate a structure from a firstresting state to a second state in which a skeleton of the flexiblestructure is resiliently stressed. By deflating the balloons, theskeleton can urge the flexible structure back toward the originalresting state. This simple system may have advantages for manyapplications. Nonetheless, there may be advantages to alternativesystems in which a first actuator or set of actuators urges a flexiblestructure from a first state (for example, a straight configuration) toa second state (for example, a bent or elongate configuration), and inwhich a second actuator or set of actuators are mounted in opposition tothe first set such that the second can actively and controllably urgethe flexible structure from the second state back to the first state.Toward that end, exemplary systems described below often use a first setof balloons to locally axially elongate a structural skeleton, and asecond set of balloons mounted to the skeleton to locally axiallycontract the structural skeleton. Note that the skeletons of suchopposed balloon systems may have very little lateral or axial stiffness(within their range of motion) when no balloons are inflated.

Referring now to FIGS. 20A and 20B, a simplified exemplary C-channelstructural skeleton 630 (or portion or cross section of a skeleton) isshown in an axially extended configuration (in FIG. 19), and in anaxially contracted configuration (in FIG. 20). C-frame skeleton 630includes an axial series of C-channel members or frames 632 extendingbetween a proximal end 634 and a distal end 636, with each rigidC-channel including an axial wall 638, a proximal flange 640, and adistal flange 642 (generically referenced as flanges 640). The opposedmajor surfaces of the walls 644, 646 are oriented laterally, and theopposed major surfaces of the flanges 648, 650 are oriented axially (andmore specifically distally and proximally, respectively. The C-channelsalternate in orientation so that the frames are interlocked by theflanges. Hence, axially adjacent frames overlap, with the proximal anddistal surfaces 650, 648 of two adjacent frames defining an overlapoffset 652. The flanges also define additional offsets 654, with theseoffsets being measured between flanges of adjacent similarly orientedframes.

In the schematics of FIGS. 19 and 20, three balloons are disposed in thechannels of each C-frame 632. Although the balloons themselves may (ormay not) be structurally similar, the balloons are of two differentfunctional types: extension balloons 660 and contraction balloons 662.Both types of balloons are disposed axially between a proximallyoriented surface of a flange that is just distal of the balloon, and adistally oriented surface of a flange that is just proximal of theballoon. However, contraction balloons 662 are also sandwiched laterallybetween a first wall 638 of a first adjacent C-channel 632 and a secondwall of a second adjacent channel. In contrast, extension balloons 660have only a single wall on one lateral side; the opposite sides ofextension balloons 660 are not covered by the frame (though they willtypically be disposed within a flexible sheath or other components ofthe overall catheter system).

A comparison of C-frame skeleton 630 in the elongate configuration ofFIG. 19 to the skeleton in the short configuration of FIG. 20illustrates how selective inflation and deflation of the balloons can beused to induce axial extension and contraction. Note that the C-frames632 are shown laterally reversed from each other in these schematics. InFIG. 19, extension balloons 660 are being fully inflated, pushing theadjacent flange surfaces apart so as to increase the axial separationbetween the associated frames. As two contraction balloons 662 aredisposed in each C-channel with a single extension balloon, and as thesize of the channel will not significantly increase, the contractionballoons will often be allowed to deflate at least somewhat withexpansion of the extension balloons. Hence, offsets 654 will be urged toexpand, and contraction offsets 652 will be allowed to decrease. Incontrast, when skeleton 630 is to be driven toward the axiallycontracted configuration of FIG. 20, the contraction balloons 662 areinflated, thereby pushing the flanges of the overlapping frames axiallyapart to force contraction overlap 652 to increase and axially pull thelocal skeleton structure into a shorter configuration. To allow the twocontraction balloons 662 to expand within a particular C-channel, theexpansion balloons 660 can be allowed to deflate.

While the overall difference between C-frame skeleton 630 in thecontracted configuration and in the extended configuration issignificant (and such skeletons may find advantageous uses), it isworthwhile noting that the presence of one extension balloon and twocontraction balloons in a single C-channel may present disadvantages ascompared to other extension/contraction frame arrangements describedherein. In particular, the use of three balloons in one channel canlimit the total stroke or axial change in the associated offset thatsome of the balloons may be able to impose. Even if similar balloon/coreassemblies are used as extension and contraction balloons in athree-balloon wide C-channel, the two contraction balloons may only beused for about half of the stroke of the single extension balloon, asthe single extension stroke in the channel may not accommodate two fullcontractions strokes. Moreover, there are advantages to limiting thenumber of balloon/core assemblies used in a single articulated segment.

Note that whichever extension/contraction skeleton configuration isselected, the axial change in length of the skeleton that is inducedwhen a particular subset of balloons are inflated and deflated willoften be local, optionally both axially local (for example, so as tochange a length along a desired articulated segment without changinglengths of other axial segments) and—where the frames extend laterallyand/or circumferentially—laterally local (for example, so as to impose alateral bend by extending one lateral side of the skeleton withoutchanging an axial length of the other lateral side of the skeleton).Note also that use of the balloons in opposition will often involvecoordinated inflating and deflating of opposed balloons to provide amaximum change in length of the skeleton. There are significantadvantages to this arrangement, however, in that the ability toindependently control the pressure on the balloons positioned on eitherside of a flange (so as to constrain an axial position of that flange)allows the shape and the position or pose of the skeleton to bemodulated. If both balloons are inflated evenly at with relatively lowpressures (for example, at less than 10% of full inflation pressures),the flange may be urged to a middle position between the balloons, butcan move resiliently with light environmental forces by compressing thegas in the balloons, mimicking a low-spring force system. If bothballoons are evenly inflated but with higher pressures, the skeleton mayhave the same nominal or resting pose, but may then resist deformationfrom that nominal pose with a greater stiffness.

An alternative S-channel skeleton 670 is shown schematically incontracted and extended configurations in FIGS. 21A and 21B,respectively, which may have both an improved stroke efficiency (givinga greater percent change in axial skeleton length for an availableballoon stroke) and have fewer components than skeleton 632. S-skeleton670 has many of the components and interactions described aboveregarding C-frame skeleton 630, but is here formed of structuralS-channel members or frames 672. Each S-channel frame 672 has two walls644 and three flanges 640, the proximal wall of the frame having adistal flange that is integral with the proximal flange of the distalwall of that frame. Axially adjacent S-channels are again interlocked,and in this embodiment, each side of the S-channel frame has a channelthat receives one extension balloon 660 and one contraction balloon 662.This allows all extension balloons and all contraction balloons to takefull advantage of a common stroke. Moreover, while there are twoextension balloons for each contraction balloon, every other extensionballoon may optionally be omitted without altering the basicextension/contraction functionality (though the forces available forextension may be reduced). In other words, if the extension balloons660′ as marked with an X were omitted, the skeleton could remain fullyconstrained throughout the same nominal range of motion. Hence,S-channel frame 672 may optionally use three or just two sets of opposedballoons for a particular articulation segment.

Referring now to FIG. 22A, a modified C-frame skeleton 680 hascomponents that share aspects of both C-frame skeleton 630 and S-frameskeleton 670, and may offer advantages over both in at least someembodiments. Modified C skeleton 680 has two different generallyC-frames or members: a C-frame 682, and a bumper C-frame 684. C-frame682 and bumper frame 64 both have channels defined by walls 644 andflanges 648 with an axial width to accommodate two balloon assemblies,similar to the channels of the S-frames 672. Bumper frame 684 also has aprotrusion or nub 686 that extends from one flange axially into thechannel. The adjacent axial surfaces of these different frame shapesengage each other at the nub 686, allowing the frames to pivot relativeto each other and facilitating axial bending of the overall skeleton,particularly when using helical frame members.

Referring now to FIGS. 22B and 22C, a relationship between the schematicextension/retraction frame illustration of FIGS. 20A-22A and a firstexemplary three dimensional skeleton geometry can be understood. To forman axisymmetric ring-frame skeleton structure 690 from the schematicmodified C-frame skeleton 680 of FIG. 22B, the geometry of frame members682, 684 can be rotated about an axis 688, resulting in annular or ringframes 692, 694. These ring frames retain the wall and flange geometrydescribed above, but now with annular wall and flanges beinginterlocked. The annular C-frames 682, 684 were facing differentdirections in schematic skeleton 680, so that outer C-frame ring 692 hasan outer wall (sometimes being referred to as outer ring frame 692) anda channel that opens radially inwardly, while bumper C-frame ring 694has a channel that is open radially outwardly and an inner wall (so thatthis frame is sometimes referred to as the inner ring frame 694). Ringnub 696 remains on inner ring frame 694, but could alternatively beformed on the adjacent surface of the outer ring frame (or usingcorresponding features on both). Note that nub 696 may add more valuewhere the frame deforms with bending (for example, the frame deformationwith articulation of the helical frame structures described below) asthe deformation may involve twisting that causes differential angels ofthe adjacent flange faces. Hence, a non-deforming ring frame structuremight optionally omit the nub in some implementations.

Referring now to FIGS. 22C-22F, uniform axial extension and contractionof a segment of ring-frame skeleton 690 is performed largely asdescribed above. To push uniformly about the axis of the ring frames,three balloons are distributed evenly about the axis between the flanges(with centers separated by 120 degrees). The balloons are shown here asspheres for simplicity, and are again separated into extension balloons660 and contraction balloons 662. In the straight extended configurationof FIG. 22D, the extension balloons 660 of the segment are all fullyinflated, while the contraction balloons 662 are all fully deflated. Inan intermediate length configuration shown in FIG. 22E, both sets ofballoons 660, 662 are in an intermediate inflation configuration. In theshort configuration of FIG. 22F, contraction balloons 662 are all fullyinflated, while extension balloons 660 are deflated. Note that the stateof the balloons remains axisymmetrical, so that the lengths on alllateral sides of the ring frame skeleton 690 remain consistent and theaxis of the skeleton remains straight.

As can be understood with reference to FIGS. 22G and 22H, lateralbending or deflection of the axis of ring-frame skeleton 690 can beaccomplished by differential lateral inflation of subsets of theextension and contraction balloons. There are three balloons distributedabout the axis between each pair of articulated flanges, so that theextension balloons 660 are divided into three sets 660 i, 660 ii, and660 iii. Similarly, there are three sets of contraction balloons 662 i,662 ii, and 662 iii. The balloons of each set are aligned along the samelateral orientation from the axis. In some exemplary embodiments, eachset of extension balloons (extension balloons 660 i, extension balloons660 ii, and extension balloons 660 iii) along a particular segment iscoupled to an associated inflation fluid channel (for example, a channeli for extension balloons 660 i, a channel ii for extension balloons 660ii, and a channel iii for extension balloons 660 iii, the channels notshown here). Similarly, each set of contraction balloons 662 i, 662 ii,and 662 iii is coupled to an associated inflation channel (for example,channels iv, v, and vi, respectively) so that there are a total of 6lumens or channels per segment (providing three degrees of freedom andthree orientation-related stiffnesses). Other segments may have separatefluid channels to provide separate degrees of freedom, and alternativesegments may have fewer than 6 fluid channels. Regardless, byselectively deflating the extension balloons of a first lateralorientation 660 i and inflating the opposed contraction balloons 662 i,a first side of ring frame skeleton 690 can be shortened. By selectivelyinflating the extension balloons of the other orientations 660 ii, 660iii, and by selectively deflating the contraction balloons of thoseother orientations 662 ii, 662 iii, the laterally opposed portion ofring frame skeleton 690 can be locally extended, causing the axis of theskeleton to bend. By modulating the amount of elongation and contractiondistributed about the three opposed extension/contraction balloonorientations, the skeleton pose can be smoothly and continuously movedand controlled in three degrees of freedom.

Referring now to FIGS. 23A and 23B, as described above with reference toFIGS. 21A and 21B, while it is possible to include balloons between allthe separated flanges so as to maximize available extension forces andthe like, there may be advantages to foregoing kinematically redundantballoons in the system for compactness, simplicity, and cost. Towardthat end, ring frame skeletons having 1-for-1 opposed extension andcontraction balloons (660 i, 660 ii, and 660 iii; and 662 i, 662 ii, and662 iii) can provide the same degrees of freedom and range of motion asprovided by the segments of FIGS. 22G and 22H (including two transverseX-Y lateral bending degrees of freedom and an axial Z degree offreedom), and can also control stiffness, optionally differentiallymodulating stiffness of the skeleton in different orientations in 3Dspace. The total degrees of freedom of such a segment may appropriatelybe referenced as being 4-D (X, Y, Z, & S for Stiffness), with thestiffness degree of freedom optionally having 3 orientational components(so as to provide as many as 5-D or 6-D. Regardless, the 6 fluidchannels may be used to control 4 degrees of freedom of the segment.

As can be understood with reference to FIGS. 23C-23E and 23H, elongateflexible bodies having ring-frame skeletons 690′ with larger numbers ofinner and outer ring frames 692, 694 (along with associated largernumbers of extension and retraction balloons) will often provide agreater range of motion than those having fewer ring frames. Theelongation or Z axis range of motion that can be provided by balloonarticulation array may be expressed as a percentage of the overalllength of the structure, with larger percentage elongations providinggreater ranges of motion. The local changes in axial length that aballoon array may be able to produce along a segment having ring frames690, 690′ (or more generally having the extension contraction skeletonsystems described herein) may be in a range of from about 1 percent toabout 45 percent, typically being from about 2½ percent to about 25percent, more typically being from about 5 percent to about 20 percent,and in many cases being from about 7½ percent to about 17½ percent ofthe overall length of the skeleton. Hence, the longer axial segmentlength of ring frame skeleton 690′ will provide a greater axial range ofmotion between a contracted configuration (as shown in FIG. 23E) and anextended configuration (as shown in FIG. 23C), while still allowingcontrol throughout a range of intermediate axial length states (as shownin FIG. 23D).

As can be understood with reference to FIGS. 23A, 23B, 23D and 23H,setting the balloon pressures so as to axially contract one side of aring frame skeleton 690′ (having a relatively larger number of ringframes) and axially extend the other side laterally bends or deflectsthe axis of the skeleton through a considerable angle (as compared to aring frame skeleton having fewer ring frames), with each frame/frameinterface typically between 1 and 15 degrees of axial bend angle, moretypically being from about 2 to about 12 degrees, and often being fromabout 3 to about 8 degrees. A catheter or other articulated elongateflexible body having a ring frame skeleton may be bent with a radius ofcurvature (as measured at the axis of the body) of between 2 and 20times an outer diameter of the skeleton, more typically being from about2.25 to about 15 times, and most often being from about 2.4 to about 8times. While more extension and contraction balloons 660, 662 are usedto provide this range of motion, the extension and contraction balloonsubsets (660 i, 660 ii, and 660 iii; and 662 i, 662 ii, and 662 iii) maystill each be supplied by a single common fluid supply lumen. Forexample, 6 fluid supply channels may each be used to inflate and deflate16 balloons in the embodiment shown, with the balloons on a single lumenbeing extension balloons 660 i aligned along one lateral orientation.

As can be understood with reference to ring frame skeleton 690′ in thestraight configuration of FIG. 23D, in the continuously bentconfiguration of FIG. 23H, and in the combined straight and bentconfiguration of FIG. 23F, exemplary embodiments of the elongateskeleton 690′ and actuation array balloon structures described hereinmay be functionally separated into a plurality of axial segments 690 i,690 ii. Note that many or most of the skeleton components (includingframe members or axial series of frame members, and the like) andactuation array components (including the substrate and/or core, some orall of the fluid channels, the balloon outer tube or sheath material,and the like), along with many of the other structures of the elongateflexible body (such as the inner and outer sheaths, electricalconductors and/or optical conduits for diagnostic, therapeutic, sensing,navigation, valve control, and other functions) may extend continuouslyalong two or more axial segments with few or no differences betweenadjacent segments, and optionally without any separation in thefunctional capabilities between adjacent segments. For example, anarticulated body having a two-segment ring frame skeleton 690′ system asshown in FIG. 23H may have a continuous axial series of inner and outerring frames 692, 694 that extends across the interface between thejoints such that the two segments can be bent in coordination with aconstant bend radius by directing similar inflation fluid quantities andpressures along the fluid supply channels associated with the twoseparate segments. As can be understood with reference to FIG. 23G,other than differing articulation states of the segments, there mayoptionally be few or no visible indications of where one segment endsand another begins.

Despite having many shared components (and a very simple and relativelycontinuous overall structure), functionally separating an elongateskeleton into segments provides tremendous flexibility and adaptabilityto the overall articulation system. Similar bend radii may optionally beprovided with differing stiffnesses by applying appropriately differingpressures to the opposed balloons 660, 662 of two (or more) segments 690i, 690 ii. Moreover, as can be understood with reference to FIG. 23F,two (or more) different desired bend radii, and/or two different lateralbend orientations and/or two different axial segments lengths can beprovided by applying differing inflation fluid supply pressures to theopposed contraction/extension balloon sets 660 i, 660 ii, 660 iii, 662i, 662 ii, 662 iii of the segments. Note that the work spaces ofsingle-segment and two-segment systems may overlap so that both types ofsystems may be able to place an end effector or tool at a desiredposition in 3D space (or even throughout a desired range of locations),but multiple-segment systems will often be able to achieve additionaldegrees of freedom, such as allowing the end effector or tool to beoriented in one or more rotational degrees of freedom in 6D space. Asshown in FIG. 23J, articulated systems having more than two segmentsoffer still more flexibility, with this embodiment of ring frameskeleton 690′ having 4 functional segments 690 a, 690 b, 690 c, and 690d. Note that still further design alternatives may be used to increasefunctionality and cost/complexity of the system for a desired workspace,such as having segments of differing length (such as providing arelatively short distal segment 690 a supported by a longer segmenthaving the combined lengths of 690 b, 690 c, and 690 d. While many ofthe multi-segment embodiments have been shown and described withreference to planar configurations of the segments where all thesegments lie in a single plane and are either straight or in a fullybent configuration, it should also be fully understood that theplurality of segments 690 i, 690 ii, etc., may bend along differingplanes and with differing bend radii, differing axial elongation states,and/or differing stiffness states, as can be understood with referenceto FIG. 23I.

Catheters and other elongate flexible articulated structures having ringframe skeletons as described above with reference to FIGS. 22C-23Iprovide tremendous advantages in flexibility and simplicity over knownarticulation systems, particularly for providing large numbers ofdegrees of freedom and when coupled with any of the fluid supply systemsdescribed herein. Suitable ring frames may be formed of polymers (suchas nylons, urethanes, PEBAX, PEEK, HDPE, UHDPE, or the like) or metals(such as aluminum, stainless steel, brass, silver, alloys, or the like),optionally using 3D printing, injection molding, laser welding, adhesivebonding, or the like. Articulation balloon substrate structures mayinitially be fabricated and the balloon arrays assembled with thesubstrates in a planar configuration as described above, with the arraysthen being assembled with and/or mounted on the skeletons, optionallywith the substrates being adhesively bonded to the radially innersurfaces of the inner rings and/or to the radially outer surfaces of theouter rings, and with helical or serpentine axial sections of thesubstrate bridging between ring frames. While extension and retractionballoons 660, 662 associated with the ring frame embodiments are shownas spherical herein, using circumferentially elongate (and optionallybent) balloons may increase an area of the balloon/skeleton interface,and thereby enhance axial contraction and extension forces. A hugevariety of modifications might also be made to the general ring-frameskeletal arrangement and the associated balloon arrays. For example,rather than circumferentially separating the balloons into three lateralorientations, alternative embodiments may have four lateral orientations(+X, −X, +Y, and −Y) so that four sets of contraction balloons aremounted to the frame in opposition to four sets of extension balloons.Regardless, while ring-frame skeletons have lots of capability andflexibility and are relatively geometrically simple so that theirfunctionality is relatively easy to understand, alternativeextension/contraction articulation systems having helical skeletonmembers (as described below) may be more easily fabricated and/or moreeasily assembled with articulation balloon array components,particularly when using the advantageous helical multi-lumen coresubstrates and continuous balloon tube structures described above.

First reviewing components of an exemplary helical framecontraction/expansion articulation system, FIGS. 24A-24E illustrateactuation balloon array components and their use in a helical balloonassembly. FIGS. 24F and 24G illustrate exemplary outer and inner helicalframe members. After reviewing these components, the structure and useof exemplary helical contraction/expansion articulation systems(sometimes referred to herein as helical push/pull systems) can beunderstood with reference to FIGS. 25 and 26.

Referring now to FIGS. 24A and 24B, an exemplary multi-lumen conduit orballoon assembly core shaft has a structure similar to that of the coredescribed above with reference to FIGS. 14 and 15. Core 702 has aproximal end 704 and a distal end 706 with a multi-lumen body 708extending therebetween. A plurality of lumens 710 a, 710 b, 710 c, . . .extend between the proximal and distal ends. The number of lumensincluded in a single core 702 may vary between 3 and 30, with exemplaryembodiments have 3, 7 (of which one is a central lumen), 10 (including 1central), 13 (including 1 central), 17 (one being central), or the like.The multi-lumen core will often be round but may alternatively have anelliptical or other elongate cross-section as described above. Whenround, core 702 may have a diameter 712 in a range from about 0.010″ toabout 1″, more typically being in a range from about 0.020″ to about0.250″, and ideally being in a range from about 0.025″ to about 0.100″for use in catheters. Each lumen will typically have a diameter 714 in arange from about 0.0005″ to about 0.05″, more preferably having adiameter in a range from about 0.001″ to about 0.020″, and ideallyhaving a diameter in a range from about 0.0015″ to about 0.010″. Thecore shafts will typically comprise extruded polymer such as a nylon,urethane, PEBAX, PEEK, PET, other polymers identified above, or thelike, and the extrusion will often provide a wall thickness surroundingeach lumen of more than about 0.0015″, often being about 0.003″ or more.The exemplary extruded core shown has an OD of about 0.0276″″, and 7lumens of about 0.004″ each, with each lumen surrounded by at least0.004″ of the extruded nylon core material.

Referring still to FIGS. 24A and 24B, the lumens of core 702 may haveradial balloon/lumen ports 716 a, 716 b, 716 c, . . . , with each portcomprising one or more holes formed through the wall of core 702 andinto an associated lumen 710 a, 710 b, 710 c, . . . respectively. Theports are here shown as a group of 5 holes, but may be formed using 1 ormore holes, with the holes typically being round but optionally beingaxially elongate and/or shaped so as to reduce pressure drop of fluidflow therethrough. In other embodiments (and particularly those having aplurality of balloons supplied with inflation fluid by a single lumen),having a significant pressure drop between the lumen and the balloon mayhelp even the inflation state of balloons, so that a total cross sectionof each port may optionally be smaller than a cross-section of the lumen(and/or by limiting the ports to one or two round lumens). Typical portsmay be formed using 1 to 10 holes having diameters that are between 10%of a diameter of the associated lumen and 150% of the diameter of thelumen, often being from 25% to 100%, and in many cases having diametersof between 0.001″ and 0.050″. Where more than one hole is included in aport they will generally be grouped together within a span that isshorter than a length of the balloons, as each port will be containedwithin an associated balloon. Spacing between the ports will correspondto a spacing between balloons to facilitate sealing of each balloon fromthe axially adjacent balloons.

Regarding which lumens open to which ports, the ports along a distalportion of the core shaft will often be formed in sets, with each setbeing configured to provide fluid flow to and from an associated set ofballoons that will be distributed along the loops of the core (once thecore is bent to a helical configuration) for a particular articulatedsegment of the articulated flexible body. When the number of lumens inthe core is sufficient, there will often be separate sets of ports fordifferent segments of the articulated device. The ports of each set willoften form a periodic pattern along the axis of the multi-lumen core702, so that the ports provide fluid communication into M differentlumens (M being the number of different balloon orientations that are tobe distributed about the articulated device axis, often being 3 or 4,i.e., lumen 710 a, lumen 710 b, and lumen 710 c) and the patternrepeating N times (N often being the number of contraction balloonsalong each orientation of a segment). Hence, the multi-lumen coreconduit can function as a substrate that supports the balloons, and thatdefines the balloon array locations and associated fluid supply networksdescribed above. Separate multi-lumen cores 702 and associated balloonarrays may be provided for contraction and expansion balloons.

As one example, a port pattern might be desired that includes a 3×5contraction balloon array for a particular segment of a catheter. Thisset of ports might be suitable when the segment is to have three lateralballoon orientations (M=3) and 5 contraction balloons aligned along eachlateral orientation (N=5). In this example, the distal-most port 716 aof the set may be formed through the outer surface of the core into afirst lumen 710 a, the next proximal port 716 b to lumen 710 b, the nextport 716 c to lumen 710 c, so that the first 3 (M) balloons define an“a, b, c” pattern that will open into the three balloons that willeventually be on the distal-most helical loop of the set. The samepattern may be repeated 5 times (for example: a, b, c, a, b, c, a, b, c,a, b, c, a, b, c) for the 5 loops of the helical coil that will supportall 15 contraction balloons of a segment to the fluid supply system suchthat the 5 contraction balloons along each orientation of the segmentare in fluid communication with a common supply lumen. Where the segmentwill include expansion balloons mounted 1-to-1 in opposition to thecontraction balloons, a separate multi-lumen core and associated balloonmay have a similar port set; where the segment will include 2 expansionballoons mounted in opposition for each contraction balloon, twoseparate multi-lumen cores and may be provided, each having a similarport set.

If the same multi-lumen core supplies fluid to (and supports balloonsof) another independent segment, another set of ports may be providedaxially adjacent to the first pattern, with the ports of the second setbeing formed into an M′×N′ pattern that open into different lumens ofthe helical coil (for example, where M′=3 and N′=5: d, e, f, d, e, f, d,e, f, d, e, f, d, e, f), and so on for any additional segments. Notethat the number of circumferential balloon orientations (M) will oftenbe the same for different segments using a single core, but may bedifferent in some cases. When M differs between different segments ofthe same core, the spacing between ports (and associated balloonsmounted to the core) may also change. The number of axially alignedcontraction balloons may also be different for different segments of thesame helical core, but will often be the same. Note also that all theballoons (and associated fluid lumens) for a particular segment that areon a particular multi-lumen core will typically be either only extensionor only contraction balloons (as the extension and contraction balloonarrays are disposed in helical spaces that may be at least partiallyseparated by the preferred helical frame structures described below). Asingle, simple pattern of ports may be disposed near the proximal end ofcore shaft 702 to interface each lumen with an associated valve plate ofthe manifold, the ports here being sized to minimized pressure drop andthe port-port spacing corresponding to the valve plate thickness.Regardless, the exemplary core shown has distal ports formed usinggroups of 5 holes (each having a diameter of 0.006″, centerline spacingwithin the group being 0.012″), with the groups being separated axiallyby about 0.103″.

Referring still to FIGS. 24A and 24B, an exemplary laser drillingpattern for forming ports appropriate for an articulated two distalsegments, each having a 3×4 balloon array, may be summarized in tableform as shown in Table 1:

TABLE 1 Drill to Lumen #s _\ Theta 1 Theta 2 Theta 3 Segment 1, N1 1 2 3N2 1 2 3 N3 1 2 3 N4 1 2 3 Segment 2, N1 4 5 6 N2 4 5 6 N3 4 5 6 N4 4 56Theta 1, Theta 2, and Theta 3 here indicate the three lateral bendingorientations, and as M=3, the balloons will typically have centerlinesseparated by about 120 degrees once the balloon/shaft assembly iscoiled. Hence, the centerline spacing between the ports along thestraight shaft (prior to coiling) will typically correspond to a helicalsegment length having about a 120 degree arc angle of the finalarticulated structure, both within a particular N subset and betweenadjacent N subsets of a segment. However, the alignment of eachcircumferential subset along a lateral bending axis does not necessarilymean that adjacent balloons are separated by precisely 120 degrees, orthat the N balloons of a subset are aligned exactly parallel to the axiswhen the segment is in all configurations. For example, there may besome unwinding of the helical core associated with axial elongation, andthere may be benefits to having the balloons along a particular bendingorientation trending slightly circumferentially around the axis (whengoing from balloon to balloon of a lateral bending subset) so thatlateral bends are closer to being planer in more segment states. Theseparation between balloons may remain consistent between segments, ormay be somewhat longer to accommodate affixation of the balloon/shaftassembly to frames and inner and outer sheaths. Drill patterns for theproximal end may be somewhat simpler, as a single port may be drilled toprovide fluid communication between each lumen and an associated valveplate module of the manifold assembly, as shown in Table 2:

TABLE 2 Drill to Lumen #s Plate 1 1 Plate 2 2 Plate 3 3 Plate 4 4 Plate5 5 Plate 6 6 Plate 7 Plate 8Note that this tabular data provides a correlation between valves of aplate and subsets of articulation balloons, and thus of the kinematicsof the system. Hence, the system processor will often have access tothis or related data when an articulated structure is coupled with themanifold, preferably on a plug-and-play basis. Similar (though possiblydifferent) drill patterns may correlate the drill patterns of othermulti-lumen cores with the valves and kinematics.

Referring now to FIGS. 24C and 24D, a continuous tube of flexibleballoon wall material 718 may be formed by periodically varying adiameter of tube wall material to form a series of balloon shapes 720separated by smaller profile sealing zones 722. Balloon tube 718 mayinclude between about 9 and about 290 regularly spaced balloon shapes720, with the sealing zones typically having an inner diameter that isabout equal to the outer diameters of the multi-lumen helical coreshafts 702 described above. In some embodiments, the inner diameters ofthe sealing zones may be significantly larger than the outer diametersof the associated cores when the balloon tube is formed, and thediameters of the sealing zones may be decreased (such as by heatshrinking or axially pull-forming) before or during assembly of theballoon tube and core shaft. The sealing zone may have a length ofbetween about 0.025″ and about 0.500″, often being between about 0.050″and about 0.250″. Decreasing the length of the sealing zone allows thelength of the balloon to be increased for a given catheter size so as toprovide larger balloon/frame engagement interfaces (and thus greaterarticulation forces), while longer sealing zones may facilitate assemblyand sealing between balloons so as to avoid cross-talk betweenarticulation channels.

Referring still to FIGS. 24C and 24D, the balloon shapes 720 of theballoon tube 718 may have diameters that are larger than the diametersof the sealing zones by between about 10% and about 200%, more typicallybeing larger by an amount in a range from about 20% to about 120%, andoften being from about 40% to about 75%. The thickness of balloon tube718 will often vary axially with the varying local diameter of the tube,the locally large diameter portions forming the balloon shapesoptionally being in a range from about 0.00008′ (or about 2 microns) toabout 0.005″, typically being from about 0.001″ and about 0.003″.Balloon tube 718 may initially be formed with a constant diameter andthickness, and the diameter may be locally expanded (by blow forming, byvacuum forming, by a combination of both blow forming and vacuumforming, or by otherwise processing the tube material along the balloonshapes 720), and/or the diameter of the balloon tube may be locallydecreased (by heat shrinking, by axial pull-forming, by a combination ofboth heat shrinking and pull forming, or by otherwise processing thetube material along the sealing zones), with the tube material oftenbeing processed so as to both locally expand the diameter along thedesired balloon shapes and to locally contract the diameter along thesealing zones. Particularly advantageous techniques for forming balloontubes may include the use of extruded polymer tubing corrugators,including the vertical small bore corrugators commercially availablefrom Unicore, Corma, Fraenkische, and others. Suitable custom molds forsuch pipe corrugators may be commercially available from GlobalMed,Custom Pipe, Fraenkische, and others. Still more advanced fabricationtechniques may allow blow or vacuum corrugation using a robotic shuttlecorrugator and custom molds, particularly when it is desirable to changea size or spacing of balloons along a continuous tube. It should benoted that while a single continuous balloon tube is shown, a pluralityof balloon tubes (each having a plurality (or in some cases, at leastone) balloon shape) can be sealingly mounted onto a single core.Regardless, the sealing zones will often have a material thickness thatis greater than that of the balloon shapes.

The balloon shapes 720 of the balloon tube 718 may each have arelatively simple cylindrical center section prior to assembly as shown.The tapers between the balloon center sections and the sealing zones cantake any of a variety of shapes. The tapers may, for example, be roughlyconical, rounded, or squared, and will preferably be relatively short soas to allow greater balloon/frame engagement for a given landing zonelength. More complex embodiments may also be provided, including formingthe balloon shapes with curved cylindrical center sections, optionallywhile corrugating or undulating the surfaces of the tapers so that theballoon tube overall remains relatively straight. The lengths of eachcenter section is typically sufficient to define an arc-angle of from 5to 180 degrees about the axis of the desired balloon assembly helix,more typically being from about 10 to about 50 degrees, the lengths ofthe center sections often being in a range from about 0.010″ to about0.400″ for medical applications, more typically being from about 0.020″to about 0.150″, and many times being in a range from about 0.025″ toabout 0.100″. The exemplary balloon shapes may have an outer diameter ofabout 0.051″ over a total balloon length (including the tapers) of about0.059″

As can be understood with reference to FIGS. 24C, 24D, 24E, and 24E-1,balloon tube 718 may be sealingly affixed to core 702, and thecore/balloon tube assembly may then be formed into a desired helicalshape. The balloon tube may be sealed over the helical core usingadhesive (such as any of those described above, often including UV-curedadhesives) thermal bonding, laser bonding, die bonding, and/or the like.Sealing of the balloons may also benefit from a compression structuredisposed over the balloon material to help maintain tube/core engagementwhen the balloons are inflated. Suitable compression structures ortechniques may include short sections of heat-shrink materials (such asPET) shrunk onto the sealing zones, high-strength filament windingswrapped circumferentially around the sealing zones and adhesivelybonded, swaging of metallic ring structures similar to marker bands overthe sealing zones, small bore crimp clamps over the sealing zones,heat-shrinking and/or pull forming the balloon tube onto the core, orthe like. Any two or more of these may also be combined, for example,with the balloon tube being adhesively bonded to the core tube byinjecting adhesive into the balloon tube around the sealing zone, heatshrinking the balloon tube and a surrounding PET sleeve over the sealingzone, and then swaging a metallic marker band over the sealing PETsleeve (so that the sleeve provides strain relief). Regardless, ports716 will preferably be disposed within corresponding balloon shapes 720and will remain open after the balloon/core assembly 730 is sealedtogether in the straight configuration shown in FIG. 24D. Shape settingof the balloon/core assembly from the straight configuration to thehelically curved configuration of FIG. 24E can be performed by wrappingthe assembly around and/or within a mandrel and heating the wrappedassembly. Helical channels may be included in the mandrel, which mayalso have discrete balloon receptacles or features to help ensurealignment of sets of balloons along the desired lateral balloon axes.Regardless, shape setting of the core/balloon assembly can help set theM different lateral orientations of the balloons, so that the balloonsof each set 720 i, 720 ii, 720 iii are aligned, as seen in 24E-1. Asnoted elsewhere, due to some slight changes in the geometry of thecoiled assembly during axial elongation and the like, there may be someslight circumferential offset between balloons of the same lateralbending orientation when the articulated structure and/or its componentsare in some configurations, including when at rest.

Referring to FIG. 24E-2, an alternative balloon tube 718′ has aplurality of pre-curved balloon shapes 720′ coupled together by sealingzones 722 to facilitate forming and/or keeping the balloon/core assemblyin a helical configuration. The overall configuration of alternativeballoon tube 718′ is straight, and it may be beneficial to provideasymmetric corrugated transitions 725 between pre-curved balloon shapes720′ and sealing zones 722. Corrugated transitions 725 may have a formanalogous to that of a corrugated straw along at least an outer radialportion of the helix, and the balloon shapes may optionally havecorrugations along this outer portion instead of or in addition to thepre-curvature shown schematically here. The balloon shapes, transitions,and sealing zones may be formed by blow molding within machined orprinted tooling using medical balloon blowing techniques, by blowmolding with the moving tooling of a corrugation system, or the like.

Referring to FIG. 24E-3, a detail for an exemplary seal between sealingzone 722 of balloon tube 718 and an outer surface of multi-lumen core702 is illustrated. In some embodiments, bonding 711 of balloon tube 718to core 702 employs adhesives, thermal bonding, laser bonding, or thelike, and is sufficient to inhibit fluid flow between adjacent balloons.Optionally, a band of radially compressive material 713 can be disposedover the balloon tube and core to help maintain sealing engagement whenone or both of the adjacent balloons are inflated. Suitable bands maycomprise metal and may be crimped or swaged onto the assembly, with thebands optionally comprise thin tubular marker bands-like structures(optionally comprising stainless steel, silver, gold, platinum, or thelike) that are swaged on using standard marker band swaging tools andtechniques. Alternative compressive bands may comprise a flexiblefilament of a polymer such as nylon, polyester, spectra, or the like,and may be wound over the balloon tube and core and adhesively bonded.Still further alternative compressive bands may comprise a micro-crimpclamp, or the like. A strain-relief tube 715 (optionally comprising PETor the like) may optionally be provided between band 713 and balloontube 718 to inhibit damage along the edge of the band, and/or the bandmay be flared radially outwardly at the ends. Preferably, the band andany strain relief tube will be compressed onto the balloon so that someor all of the outer surface of the band and strain relief tube arerecessed to near or even below the adjacent balloon tube, analogous towhen a standard marker band is crimped onto a standard catheter tubing.

Referring now to FIGS. 24F and 24G, exemplary inner and outer helicalC-channel frames, 732 and 734 respectively, can be seen. Inner helicalframe 732 and outer helical frame 734 incorporate the modified C-channelframe 680 of FIG. 22a , but with the C-channels defined by axiallycontinuous helical walls 736 with flanges 740 along their proximal anddistal helical edges. The helical flanges are axially engaged by opposedballoons and allow inflation of the balloons to locally axially contractand/or extend the skeleton and catheter (or other articulatable body) ina manner that is analogous to the annular flanges of the ring framesdescribed above. An optional helical nub 742 protrudes axially into thechannel of inner ring frame 734 to allow the frames to pivot againsteach other along a flange/flange engagement, so that the nub couldinstead be included on the flange of the outer frame or on both (or maycomprise a separate structure that is axially sandwiched between theflanges of the two frames). Alternative embodiments may forego such apivotal structure altogether.

Referring now to FIGS. 25A-25D, a segment of an exemplary flexibleextension/contraction helical frame articulation structure 750(sometimes referred to herein as a push/pull helical structure)incorporates the components of FIGS. 24A-24G, and provides thefunctionality of the annular extension/contraction frame embodiments ofFIGS. 22B-22I. Push/pull structure includes a skeleton defined by innerand outer helical frames 732, 734, and also includes three balloon/coreassemblies 730 a, 730 b, and 730 c, respectively. Each balloon/coreassembly includes a set of balloons at three lateral orientations, 720i, 720 ii, and 720 iii. Balloon/core assembly 730 b extends along ahelical space that is axially between a flange of the inner frame and aflange of the outer frame, and that is radially between a wall of theinner frame and a wall of the outer frame, so that the frames overlapalong this balloon/core assembly. Hence, when balloons 720 ofballoon/core assembly 730 inflate, they push the adjacent flanges apartand increase the overlap of the frames, inducing axial contraction ofthe skeleton, such that the balloons of this assembly function ascontraction balloons. In contrast, balloon/core assemblies 730 a and 730c are radially adjacent to only inner frame 732 (in the case of assembly730 a) or outer frame 734 (in the case of assembly 730 b). Expansion ofthe balloons 720 of assemblies 730 a, 730 c pushes axially againstframes so as to decrease the overlap of the frames, and acts inopposition to the inflation of balloons 720 of assembly 730 b. Hence,balloons 720 of assemblies 730 a, 730 c function as extension balloons.

Referring now to FIGS. 25A-25C, when all the contraction balloons 720 ofassembly 730 b are inflated and all the extension balloons of assemblies730 a, 730 c are deflated, the push/pull structure 750 is in a straightshort configuration as shown in FIG. 25A. Even partial inflation of theextension balloons and even partial deflation of the contractionballoons articulates push/pull structure 750 to a straight intermediatelength configuration, and full inflation of all extension balloons ofassemblies 730 a, 730 c (along with deflation of the contractionballoons) fully axially elongates the structure. As with the ringpush/pull frames, inflating contraction balloons 720 ii along onelateral orientation of assembly 730 b (with corresponding deflation ofthe extension balloons 720 ii of assemblies 730 a, 730 b) locallydecreases the axial length of the skeleton along that side, whileselective deflation of contraction balloons 720 i of assembly 730 b(with corresponding inflation of extension balloons 720 i of assemblies730 a and 730 c) locally increases the length of the skeleton, resultingin the fully laterally bent configuration of FIG. 25E. Note thatextension and contraction balloons along the 720 iii orientation may beinflated and deflated with the extension and contraction orientationballoons of orientation 720 ii so as to keep the curvature in the planeof the drawing as shown. Stiffness of the structure may be modulateduniformly or locally (with axial and/or orientation variations) asdescribed above regarding the ring frame embodiments. Similarly, thenumber of extension and contraction balloons along each orientation(which will often be associated with the number of loops of assemblies730 a, 730 b, etc.) may be determined to provide the desired range ofmotion, resolution, and response. As described with reference to thepush/pull ring frame embodiments, the overall articulated portion of thestructure will often be separated into a plurality of independentlycontrollable segments.

Referring now to FIG. 25F, push/pull structure 750 will often include anouter flexible sheath 752 and an inner flexible sheath 754. Sheaths 752,754 may be sealed together at a distal seal 756 distal of the inflationlumens and balloons of assemblies 730, and one or more proximal seal(not shown) may be provided proximal of the balloons and/or near aproximal end of the catheter structure, so as to provide a sealed volumesurrounding the articulation balloons. A vacuum can be applied to thissealed volume, and can be monitored to verify that no leaks are presentin the balloons or inflation lumen system within a patient body.

Referring now to FIGS. 26A and 26B, an alternative push/pull structureomits one of the two extension balloon assemblies 730 a, 730 c, and usesa 1-to-1 extension/contraction balloon opposition arrangement asdescribed above with reference to FIGS. 23A and 23B. Note that thisembodiment retains balloon assembly 730 c that is radially adjacent toouter frame 734 (so that no balloons are visible even with the sheathremoved). Alternative embodiments may retain assembly 730 a and foregoassembly 730 c (so that balloons could be seen through a clear sheath,for example).

Referring now to FIG. 27, short segments of alternative core structuresare shown for comparison. Core shaft 702 has an outer diameter of about0.028″ and 7 lumens, with 6 peripheral lumens having an inner diameterof about 0.004″ readily available for formation associated ports and usein transmitting inflation fluid to and from balloons. A central lumenmight be used, for example, in monitoring of the vacuum system to verifyintegrity of the system. Core shaft 702 can be used, for example, in a14-15 Fr catheter system having two segments that are each capable ofproviding up to 120 degrees of bending (or alternatively more or lessdepending on the number of balloons ganged together on each channel),with such a system optionally capable of providing a bend radiussufficient for to fit a 180 degree bend of the catheter within a spaceof 3 inches or less, ideally within 2½ inches or less, and in some caseswithin 2 inches or less. Such a system may be beneficial for structuralheart therapies, for example, and particularly for mitral valvedelivery, positioning, and/or implantation.

Referring still to FIG. 27, other therapies may benefit from smallercatheter profiles, and do not need the bending forces available from a15 Fr catheter. Electrophysilogy therapies such as AFib ablation fromwithin an atrium of the heart may be good examples of therapies whichwould benefit from the degrees of freedom that can be provided in smallstructures using the systems described herein. Scaling the 15 Fr systemdown for a 7-8 Fr ablation catheter might make use of a directly scaledcore 762 having half the overall outer diameter and half the lumen innerdiameter of core 702, as the pressure-containing stresses in thematerial would scale with the lumen diameters. However, there may becost benefits to maintaining minimum lumen wall thicknesses that areabove 0.002″, preferably at or above 0.0025″, and ideally at or aboveabout 0.003″. Toward that end, and to provide 6 contraction or extensionlumens for two 3D push/pull segments along a common helical core alongwith a desirably small bend radius, it may be beneficial to use radiallyelongate core 764 having a 6 lumens that are all surrounded by at least0.003″ of material. Core 764 has an axial height of half of core 702 anda radial width of that is less than half the balloon diameter of the14-15 Fr system. There may be benefits to having the radial (elongate)dimension of the cross-section being less than the inflated innerdiameter of the balloons mounted thereon, to inhibit trapping ofinflation fluid on one axial side of the balloon (away from theinflation port).

Still further advantages may be provided by applying the smaller lumenand wall thickness dimensions of 7 Fr core 762 to a 15 Fr catheter coresize, as it results in the 12 inflation lumen core 766. The large13^(th) lumen of this embodiment may help enhance flexibility of thesegments, and can again be used to monitor system integrity using avacuum system. The 12 lumens may allow, for example, a continuouspush/pull structure to have 4 independently controllable 3D shape (4Dshape+stiffness) segments. A 16 inflation lumen core 768 combines thesmaller lumen and wall thickness with a radially elongate cross-section,allowing 5 independently controllable 3D segments. It should beunderstood that still further numbers of lumens at smaller profiles arepossible using known and relatively low cost multilumen extrusiontechniques.

It should be understood that still further alternative embodiments maytake advantage of the beneficial components and assemblies describedherein. For example, as can be understood from the disclosure aboveregarding many of the flexible structures of FIGS. 3-12, inflation of aballoon may be resiliently opposed by a helical spring or other biasingstructure so that the spring deflates the balloon and urges a flexiblebody back toward a pre-balloon-inflation state when the inflation fluidis released from the balloon. Rather than relying on 6 dedicated opposedexpansion and contraction balloon channels for each segment (providingindependent contraction and expansion along each lateral orientation) inthe push/pull ring frame and push/pull helical frame embodimentsdescribed above, two or more of the channels (from the same segments orfrom different segments) may be grouped together to act as a commonbaising structure or fluid spring. As an example, all the contractionballoons along two adjacent segments might open to a single lumen thatis inflated to less than full pressure. Modulating pressure to thedifferent sets of extension balloons may still allow the extensionballoons to articulate each segment with three independent degrees offreedom, as the grouped contraction balloons could selectively beoverpowered by the extension balloons (like the coil springs) or may beallowed to deflate the extension balloons. In some embodiments, ratherthan relying on partial pressure of extension or contraction balloons,an elastomeric material may be mounted over the core of some or all ofthe extension or contraction balloons of a segment so as to passivelyoppose a set of the balloons.

Referring now to FIG. 28, an articulation controller 770 for directinginflation fluid to and from the actuation balloons of the systems willtypically have hardware and/or software configured and programmed togenerally seek to cause the articulable structure to assume a new actualposition or state X_(actual) in response to a commanded trajectory 772input by a system user. Many of the articulated flexible structuresdescribed herein may be included in robotic systems that can be analyzedand controlled using techniques associated with continuum robots, andthe articulated structures will often be under-constrained with morejoints then can be directly controlled using a standard controller.These excess or redundant degrees of freedom are often managed and madeto cooperate by controller 770 using an internal compliance that directsthe joints to be at a similar angle relative to the next joint withinthe segment. Controller 770 assumes equal joint angles within thesegment for solving control equations. The segment bias (towardsstraight, for example) and strain associated with inducing a bend awayfrom the preferred orientation causes a preference for internal jointsto be at similar relative angles. The processor of the system willtypically have software modules to determine the next desired positionor state of the articulatable structure X_(iDesired), and will applyinverse catheter kinematics 774 to determine the next desired jointstate Θ_(iDesired). A difference between an actual joint state and thenext desired joint state is determined to define a joint error, and thedesired joint state can be fed forward to a joint trajectory planner 776along with the joint error to define a joint error trajectory. Thisjoint trajectory can be used in an inverse fluidic calculation 778 todetermine command signals that can be fed into a closed-loop valvecontroller 780 so as to provide an actuated joint state. In someembodiments, closed loop control of the valves may depend on pressuresensing, and may be used to control to specific pressures as determinedby valve inverse kinematics. The catheter dynamics and mechanicsreaction to the actuated joint state (with the associated environmentinteractions with the catheter such as tissue forces and the like)result in a new actual position or state X_(actual) of the articulatedcatheter system.

Feedback on the actual position or state of the articulated system tothe controller may be omitted in some embodiments, but other embodimentsmay benefit from such feedback to provide more precise movements andbetter correlation (from the system user's perspective) between thecommand inputs and the actual changes in state. Toward that end, thecontroller may optionally use one or more closed loop feedback pathways.In some embodiments, a feedback system that is partially or fullyexternal to the articulated structure 782 may sense the actual positionor state of the catheter or other articulated structure using alocalization sensor 784, such as an electromagnetic navigation system,an ultrasound navigation system, image processing coupled to 3D imaging(such as biplanor fluoroscopy, magnetic resonance imaging, computedtomography, ultrasonography, stereoscopic cameras, or the like; wherethe imaging modality may optionally also be used to produce imagespresented to the system user for image guided articulation). In manyembodiments, the feedback will be provided using signals obtained fromthe articulated system itself under an internal closed loop feedbacksystem 786. To obtain a measured shape or state of the articulatedstructure, a variety of known sensor technologies may be employed as anarticulated structure shape sensor 788, including optical fiber shapesensors (such as those using fiber Bragg gratings), electrical shapesensors (such as those which use elastically deformable circuitcomponents), or the like. The measured and/or sensed signals may beprocessed using inverse kinematics to derive associated measure and/orsensed joint states. Furthermore, balloon array pressure signals willoften be available from the pressure sensors of the system, along withinformation correlating the pressures with the joint or shape state ofthe articulated system. The history of inflation fluid directed to andexhausted from the articulation balloons may also be used to helpdetermine an estimated inflation fluid quantity present in each balloon(or set of balloons on a common inflation lumen). Where balloons aremounted in opposition or in parallel, the pressure and inflation fluidquantity of these related balloons on separate channels may also beavailable. Some or all of this pressure information may be processedusing a joint kinematics processor 790 to determine a pressure-derivedjoint position or state (including a derived position of thepressure-articulated joints making up the flexible structure kinematicchain Θ_(LDevived)). The pressure information, preferably along withinternal localization information and/or external localizationinformation, may also be used by the joint kinematic processor 790 toderive the loads on the joints, for determining of motion limits 775 asused by the joint trajectory planner 776, and the like. Where more thanone is available, the external localization-based feedback joint state,the internal shape-sensor based joint state, and the pressure-derivedjoint state may be rectified 792 and the rectified (or otherwise anyavailable) joint state compared to the desired joint state to determinethe joint error signal.

Referring now to FIG. 29, an exemplary data processing structure 800 forcontrolling the shape of a catheter or other articulated elongateflexible bodies described herein can be understood. Much of the dataprocessing occurs on a controller board 802 of reusable driver 804, withthe driver optionally comprising a hand-held capital equipment unit. Theinput device 806 may optionally include a separate workstation withwired or wireless data telemetry (so as to allow, for example, aninterventional cardiologist or the like to perform a portion of theprocedure while separated from the radiation field of a fluoroscopysystem), or input device 806 may be a user interface integrated into thehand-held driver, or both. Preferably, the valve manifold 808 willcomprise one of the modular plate manifold structures described herein,and will be contained within the hand-held driver unit 804. Canister 810may be affixed to the driver (directly or by coupling of the catheter tothe driver), and will often be included within a hand-held proximalassembly of deployment system that includes the driver, the proximalinterface of the catheter, and other proximal components of the catheter(such as the heart valve actuation or deployment device 813, or thelike) during use. Similarly, a battery of the system (not shown) may beintegrated into the driver 804, may be mounted to the proximal interfaceof the catheter, or both.

A catheter 812 or other elongate flexible body for use with driver 804will generally have a proximal interface 814 that mates with areceptacle 816 of the driver. As can be understood with reference to thedescriptions above, the mating of the proximal interface with thereceptacle will often provide sealed fluid communication between aballoon array of the catheter and the valves of the manifold assembly.Coupling of the proximal interface with the receptacle may also resultin coupling of electrical contacts of the driver 818 with electricalcontacts of the catheter 820, thereby facilitate access to internalshape sensor data, external localization data (which may employ apowered fiducial on the catheter and an external electromagnetic sensorsystem, or the like). Still further communications between the catheterand the driver may also be facilitated, including transmission ofcatheter identification data (which may include a catheter type forconfiguration of the controller, a unique catheter identifier so as tohelp inhibit undesirable and potentially deleterious re-use of thecatheter, and the like). As an alternative to (or in addition to)electrical communication of this data, catheter 812 may have an RFID,bar code, or other machine-readable tag on or near proximal interface814, and driver 804 may include a corresponding reader one or nearreceptacle 816.

Referring now to FIG. 29A, a network system 1900, in which anarticulated catheter system 1902 is coupled to other networked devicesusing a base station 1904, is schematically illustrated. Articulatedcatheter system 1902 may include any of the catheter systems describedherein, and generally includes a balloon articulated catheter 1906having an ID 1908 such as an RFID tag or the like. Catheter 1906 isreplaceably connected to a proximal housing 1910, which includes themanifold and fluid handling components of the catheter system, alongwith many of the electrical and data processing components. A userinterface 1912 may be integrated into proximal housing or removablysupported by the housing.

First addressing the power components of base station 1904 and housing1910, electrical wall power is used to energize an electrical inductivecharge coil of the base station, which energizes an inductive coil ofthe housing 1910, the coils forming an inductive coil pair 1920 when thehousing is placed in a receptacle of the base station. Power frominductive coil pair 1920 charges a battery, which is used to power theelectrical circuitry supported by the proximal housing when the housingis removed from the receptacle. Note that another inductive coil pairmay charge a battery of the user interface 1912 if it is to be used whenseparated from the housing, and that electrical contacts along thehousing and receptacle (and between the user interface and housing) maybe used in place of inductive charging components in some embodiments.Inductive charging may, however, have advantages, including facilitatingthe use of a simple sterile drape 1924 or sterilizable housing materialso as to inhibit cross-contamination between patients.

Still referring to FIG. 29A, telemetry between the components in housing1910, base 1904, and a network system 1930 are also illustrated.Wireless communication modules 1932 will often provide wirelesscommunication between the base station and a processor of the proximalhousing, though electrical contacts, wires, or even optical cables mightbe used. Regardless, the processor of housing 1910 may transmit a widerange of data to a processor 1934, typically including catheter ID dataassociated with ID tag 1908 (as obtained via an RFID reader or thelike). Additional data may include data identifying the proximal housingunit type, specific ID, and the like; user data; patient data (withappropriate HIPAA compliance verification), and the like. Still furtherdata that may be transmitted to the base station, including manifolddiagnostic data, fluid use data, articulation and command/articulationresponse data, and the like. Some of this data and/or other data may beentered into a user interface of the base station or obtained by thebase station from other networked devices of the clinical setting,and/or from an electronic medical record data repository 1940 for thepatient. Any of this data may be communication between processor 1934 ofthe base station and a server 1936 of network system 1930, either viawireless module 1932 of the base station, a different wirelesscommunication device of the base station, or a wired network connectionbetween the base station and server 1936 and processor 1932. Any of avariety of wireless or wired router systems may be used to handle thesecommunications.

Server 1936 may be included in a local network configured to handleclinical data, including one or more clinical workstations 1942 or otherdevices (such as clinician desktop computers for entering patient data,mobile physician touchscreen devices, or the like), clinical dataacquisition systems 1944 (such as image data systems, EKG sensors, andthe like). Suitable data from the catheter system and other networkdevices may be directed to the electronic medical record 1940 for aparticular patient.

Communication between the clinical network 1930 and other networkcomponents may be transmitted via a network such as the internet 1950,with data storage and transmission often employing any of a wide varietyof cloud-based computing technologies, optionally as configured so as tomaintain security appropriate for healthcare data of patients. Serversof other clinical sites 1952, 1954, . . . , may similarly transmit datavia the internet. While communication between clinical sites may proceeddirectly on a peer-to-peer basis for specific patients, aggregatecatheter system data (and associated aggregate patient data) transmittedfrom some, most, or all of the clinical servers having networks thatinclude a networked robotic catheter system may be handled by a dataprocessing system 1960 maintained by an entity having catheter dataoversight responsibilities, such as a catheter manufacturer or seller.An advantageous feature of data processing system 1960 is that adatabase of safely usable catheter ID data can be accessed by a useprocessor, allowing the processor to verify that housing 1910 is beingcoupled to safe catheters (and can transmit permission for that orfuture procedures), and can remove single-use catheter ID's from thedatabase after they are used. A clinical database 1964 can gather some,most, or all HIPAA compliant catheter-system data, and optionally anyadditional electronic medical record data or data from other networkeddevices used during the catheter procedure, as that data is availableand approved for transmission from each of the clinical networks.

Referring now to FIGS. 30A-30D, an alternative interface 830 disposed atthe proximal end of the catheter can be understood, along with mating ofthat proximal interface of the catheter to an alternative receptacle 832of an alternative modular manifold 834. Proximal interface 830 may bepermanently or removably affixed to the proximal end of the catheter andprovides a quick-disconnect sealed communication between axiallyseparated ports of up to three multi-lumen shafts 836 of the catheter toassociated valves and fluid channels of the manifold. The ports of themulti-lumen shafts can be sealed to proximal interface 830 by axiallycompressing O-rings 838 or other deformable sealing bodies interleavedbetween more rigid interface members 840. Threaded compression members842 maintain axial sealing compression between a proximal-most interfacemember and a distal-most interface member. Posts 844 of interfacemembers 840 extend laterally and parallel to each other. Each interfacemember 840 includes a post 844 for each multi-lumen shaft, and thenumber of interface members included in proximal interface 830 is thesame as the number of independently used lumens in each multi-lumenshaft, so that the posts form an array with the total number of postsbeing equal to the total number of independent multi-lumen channels inthe articulated structure. Lumens extend radially from the ports of themulti-lumen shaft, through the posts 844, and to an interface portsurrounded by a cap of deformable seal material.

Referring to FIG. 30D, receptacle 832 of manifold assembly 834 has aseries of indentations that correspond with posts 844 of proximalinterface 830. The indentations have surfaces that correspond to theposts and seal to the deformable caps with the interface ports each insealed fluid communication with an associated channel of an associatedplate module. In this embodiment, the receptacle surfaces of each platemodules are on a receptacle member 848. The receptacle members supportplate layers with channels formed between the layers, with MEMS valvesand pressure sensors mounted to the plates as described above. Here,however, the plates of adjacent plate modules may not be in directplate-plate contact, so that the supply and exhaust flows may extendaxially through the receptacle members, through the proximal interface,or through another structure of the manifold assembly. As noted above,alternative embodiments may have plates that are in direct contact, withany housings for valves, pressure sensors, and the like formed as voidsbetween layers, and with inflation and/or deflation fluid transmitteddirectly between plate modules through seals (such as O-rings,formed-in-place seals, gasket material affixed to flex circuitstructures, or the like).

Referring now to FIGS. 31A-31C, advancement of a simplified valvedeployment system 1540 in a heart 1542 of a patient body isschematically shown. In this schematic illustration of deployment system1540, a prosthetic valve is supported at the distal end of anarticulated catheter. While not shown for simplicity, a tapered dilationtip and/or a retractable sheath may be provided to facilitateadvancement. A guidewire 1544 may be advanced to the heart via theinferior vena cava IVC using known techniques, and access to the mitralvalve MV may be provided by crossing the right atrium RA and traversingthe septum separating the right atrium from the left atrium LA usingstandard transsceptal access components. Optionally, steeringcapabilities of the deployment catheter may be used to help direct atranssceptal needle through the septum at or adjacent the fossa ovalisunder fluoroscopic guidance. While more than one guidewire may be usedto gain access, transceptal guidewire 1544 can eventually be positionedin the left atrium, and the deployment catheter 1540 can be advancedover the wire into the right atrium RA as shown in FIG. 31A. As can alsobe understood with reference to that figure, advancing of the valve fromthe IVC toward the septum may be facilitated by articulating one or moresegments of the deployment catheter using the balloon array articulationsystems described above.

For many patients, the fossa ovalis may be between 5 and 14.5 mm above(caudally of) the ostium of the IVC. Cranio-caudal and antero-posteriorfossa ovalis diameters may be 12.1±3.6 and 14.1±3.6 mm, respectively;the ostium of the IVC may have a diameter between about 18 mm and 30.2mm, as detailed in an article entitled “Anatomy of the true interatrialseptum for transseptal access to the left atrium” by WieslawaKlimek-Piotrowska (Annals of Anatomy 205 (2016) 60-64), which may beaccessed at:http://www.heart.cm.uj.edu.pl/documents/104468614/110577839/Anatomy%20of%/20the%20true%20interatrial%20septum%20for%20transseptal%20access%20to%20the.pdfthe full disclosure of which is incorporated herein by reference. Withinthe separation space between the ostium of the IVC and the fossa ovalis(or other septal penetration site), the segments of catheter 1540 thatare resident while gaining access and/or during a valve positioning ordeployment may provide a controlled lateral bend angle in a rangebetween about 60 to about 120 degrees, more typically between 70 and 110degrees, and often of between about 80 and 100 degrees. Pediatricpatients may benefit from deployment catheters capably of tighter bendradii, while larger patients and patients with enlarged hearts may uselarger diameter catheters having larger bend radii.

Referring now to FIGS. 31A and 31B, while prosthetic valve 1550 is beingadvanced from the IVC and thru the right atrium, lateral bending of adistal segment 1552 of deployment catheter 1540 may help orient thevalve to follow guidewire 1544 toward the left atrium LA. In someembodiments, while the dilation tip adjacent the valve engages theseptum the catheter proximal of most or all of the distal segment may bebraced against the opposed wall of the right atrium. Optionally, a moreproximal segment may anchor the catheter in the IVC. Regardless, axialelongation of distal segment 1552 may help advance the valve into and/orthrough the septum, with or without distal advancement of a proximal,unarticulated portion of the catheter. In other embodiments, manual orautomated advancement of the proximal portion of the catheter into thepatient through an introducer valve may be used to move the valve fromthe right atrium RA to the left atrium LA. As the valve advances withinthe left atrium, distal segment 1552 may be driven to straighterconfiguration, and a more proximal segment (such as intermediate segment1554) may be driven to bend about 80-100 degrees to span from the IVC tothe septal crossing site.

Referring now to FIGS. 31B and 31C, when valve 1550 and some, most, orall of distal segment 1552 are within the left atrium LA, a proximalsegment 1556 may be driven toward a helical or serpentine anchorconfiguration within the IVC, with the opposed bends of the segmenthaving a nominal diameter that is larger than that of the surroundingIVC. In other embodiments, an alternative anchor may be employed, suchas an elastic balloon that expands from one side of catheter 1540proximal of the articulated segments, extending a loop of wire laterallyfrom the catheter, or the like. The anchoring engagement between the IVCand catheter 1540 may provide a stable base for articulation ofarticulation segments that are distal of the anchor. In someembodiments, intermediate segment 1554 or another part of the catheterdistal of the anchor may engage a surface of the right atrium oppositethe septum. The catheter distal of the anchor will also engage hearttissue of the septum (optionally along the distal or intermediatesegment), and these heart tissues may, to some extent, help stabilizethe valve. The native mitral valve will move during beating of theheart, and the heart tissues engaging the catheter proximally of thevalve may also move with physiological movement that differs from thatof the mitral valve.

Referring now to FIGS. 32A-32C, exemplary movements of a three segmentarticulated catheter system for positioning of prosthetic valve 1550within a mitral valve MV can be understood. Mitral valve MV has an axis1560, and a valve plane 1562 can be defined by the valve annulus, withthe valve plane optionally being perpendicular to the axis. In someembodiments, prosthetic valve 1550 may be axisymmetric, so that desiredpositioning of the prosthetic valve can be defined by five degrees offreedom relative to the native valve. In other embodiments, the valvestructure may be adapted to allow a relatively wide range of axialpositioning, so that 4 accurate degrees of freedom are sufficient. Inother embodiments, including those having a non-circular prostheticvalve cross-section or a non-planar prosthetic valve seat, six accuratedegrees of freedom may be desired. Regardless, deployment system 1570 isshown here with a distal articulated portion having three independentlyarticulatable axial segments 1572, 1574, and 1576 that may each bearticulated in two or three degrees of freedom (DOFs) to positionprosthetic valve 1550 as desired relative to the native tissues ofmitral valve MV. In alternative embodiments, a proximal anchor segmentmay be used with an intermediate and a distal segment that can each bearticulated with 3 DOFs. In still further alternatives, a single 3 DOFsegment system may extend through a conventional steerable transceptalcatheter.

As can be understood with reference to FIGS. 31C and 32A, it may bedesirable to initially advance the distal end of prosthetic valve 1550beyond the target deployment position, and then to lift the proximal endof the valve caudally within the right atrium. Toward that end,intermediate segment 1574 may curve upward, and distal segment mayretract axially and bend downward as shown. As can be understood withreference to FIGS. 32A and 32B, as the axis of prosthetic valve 1550comes into alignment with axis 1560, the prosthetic valve may remainabove the plane 1562 of the native valve tissues. The proximal,intermediate, and distal segments 1572, 1574, 1576 may curve laterallyas desired into and/or out of the plane of the images shown so as tobring the prosthetic valve into alignment, with the catheter pivotingabout the transceptal axis site 1580, sliding axially through the site1580, and/or gently laterally displacing cite 1580. As can be understoodwith reference to FIGS. 32B and 32C, once the distal end of prostheticvalve 1550 has been aligned with the opening of the valve theintermediate segment 1574 can be driven to straighten and then curvedownward. Distal segment 1576 may straighten somewhat, and segment(s)1572, 1574, and/or 1576 may axialy elongate to finalize axial alignmentand also to axially advance the prosthetic valve to the desired positionrelative to the plane of the native mitral valve tissues. The valve canthen be deployed, often by balloon expansion, proximal retraction of asurrounding sheath, or the like.

Regarding the articulation capabilities of the distal segments, thesegments may have similar structures, bend radii, elongationcapabilities, and the like. Bending angles and space constrains for thesegment(s) spanning the right atrium are described above. For thesegment(s) moving within the left atrium, the size of the left atriummay increase with diseases associated with valve disease. As explainedin, for example: in a four chamber sonography view the left atrium mayhave a diameter of between about 28 and 40 mm and a major axis of fromabout 41 to 61 mm; these dimensions may increase by as much as 100% ormore in a severely dilated heart. The articulated catheter segment(s)within the left atrium (usually including most or all of the distalsegment, and optionally including a portion of the proximally adjacentsegment) will accommodate bends of from 80 to 120 degrees when extendingfrom the transceptal access site, and then bending to extend along theaxis of the mitral valve (which may be found at a separation distand ofless than one half the LA diameter from the septal wall). Elongationcapabilities of each elongatable segment will preferably be at least 5%of the length of that segment in its shortest configuration, often beingat least 10% and ideally being 12.5% or more. Articulated portionlengths (in the short configuration, where elongatable, and includingall segments and connections therebetween) for valve delivery and/orother valve therapies may be from 2.5 in. to about 11 in., often beingbetween about 4.5 and 8.5 inches.

Referring now to FIGS. 33A and 33B, representative prosthetic valvestructures which might be deployed using the valve therapy devicesdescribed herein are shown. These and other suitable prostheticreplacement valve structures may be commercially available from AbbottLaboratories, Tendyne Holdings, Edwards Lifesciences, Medtronic, Twelve,Boston Scientific, St. Jude, CardiAQ, Micro Interventional Devices,Neovasc, and others, and additional information regarding specific valvestructures may be found from the publications of these entities. Someembodiments of these prosthetic devices may be balloon expanded (so thatonce they are positioned, the frame of the valve is plastically expandedby inflating a deployment balloon). While the deployment ballooninflation system might optionally be integrated with the articulationballoon inflation system, in many embodiments a separate standardballoon inflation system and lumen may be provided, with that lumenextending distally along a shaft disposed within the inner sheath of oneof the articulation devices described herein. In other embodiments, theframe is biased to expand, and is expanded at the target site byreleasing the frame such as by withdrawing a surrounding sheathproximally while one of the articulated catheter structures providedherein holds the prosthesis at the target site within the sheath. Knownvariations for deployment of balloon expanded and resilient expansion ofexisting valves and stents may also be used, including tethers and othersystems for retrieving partially deployed valves and stents.

Referring now to FIGS. 34-35H, the devices and systems described hereinmay be used in a number of additional valve therapies. For example, inFIG. 34 a multi-segment balloon articulated catheter 1580 is used todeploy a mitral valve leaflet plication clip that can affix a centralportion of the mitral valve leaflets together so as to inhibit mitralregurgitation. The clip may replicate the Alfieri stitch used in someopen procedures, and additional information on the clip device and itsdeployment using nested pull-wire steerable catheters can be found frompublications by Abbott regarding the Mitraclip™ system. When deliveredusing balloon articulated catheter 1580, a prosthetic valve leafletplication tip may be carried on a shaft passing through the catheter tofacilitate rotation about the catheter axis. Alternatively, a range ofrotation may be provided by coordination between the articulatedsegments, and/or by including a balloon articulation segment asdescribed below.

Referring now to FIGS. 35A-35C, an alternative valve repair device thatcan be carried on a balloon articulated catheter 1590 (optionally havingtwo, three, or more independently articulated segments as describedabove) can be used to deploy an annuloplasty ring 1592. As can beunderstood in more detail with reference to the standard deploymentsystems described in publications by Valtech (and/or inhttp://citoday.com/pdfs/cit0515_Valve%20Update_Tobis.pdf), systems beingdeveloped by Valtech and others can deploy annuloplasty rings around theannulus of the mitral valve by advancing a series of anchors from acatheter system into the support tissue surrounding the native valveleaflets so as to re-shape the valve such that mitral regurgitation canbe inhibited. Replacing a standard catheter system with any of theballoon array articulation structures described herein may significantlyfacilitate anchor placement, provide greater accuracy, and decreasedeployment time. Optionally, combination catheter-deployed therapies mayalso be employed, for example, with catheter-based deployment of anannuloplasty ring being combined with deployment of a prosthetic valvewithin that ring (and the native valve tissue) if the ring alone doesnot provide the desired result (or even as a pre-planned therapy).

Referring now to FIGS. 35D-35F, mitral annulus plication is a stillfurther alternative mitral valve therapy which may benefit by modifyingexisting deployment technology so as to take advantage of the balloonarticulated systems described herein. As shown here (and as can befurther understood by reference to the publication of Mitralign andothers), pledgets 1590 may be affixed to the mitral annulus at locationsseparated by a desired distance using either two separate balloonarticulated catheters 1592 a, 1592 b (or sequentially using a singleballoon articulated catheter). A suture between the deployed pledgetscan be tensioned to approximate an associated segment of the valveannulus, and a clip can hold the suture in place after the cathetersystem is withdrawn. For this and some other valve therapies, it may beadvantageous to access the lower surface of the valve annulus fromwithin the left ventricle. Access can be obtained by advancing a distalend of a transceptal catheter down through the mitral valve and thenarticulating one or two distal segments of the catheter within theventricle using a retrograde approach. An alternative retrogradeapproach is illustrated in FIGS. 35G and 35H, in which a multi-segmentballoon articulated catheter 1596 is articulated to facilitate acrossthe aortic valve and into the left ventricle LV over a guidewire. One ortwo distal segments are then driven angles in a range from 120 to 270degrees to provide retrograde access to the lower annulus tissues of themitral valve MV.

Additional benefits may be available using the devices and systemsdescribed herein. For example, partial inflation of articulationballoons may locally decrease a lateral stiffness of the catheter so asto tailor a pushability and/or trackability of the catheter for aparticular body lumen. Trackability, pushability, torqueability, andcrossability of are known characteristics of catheters which may bequantitatively determined subjectively (by asking a number of users torate the catheters for one or more of these characteristics),empirically (by measuring movement inputs and outputs in a controlledtest), and/or analytically (by modelling interaction of the catheter andresulting catheter performance based on characteristics or properties ofthe catheter structure). Pushability generally reflects the ability of adistal end of the catheter to advance distally within a bending lumen inresponse to an axial insertion performed from proximally of the lumen,while trackability generally reflects the ability of the distal end ofthe catheter to follow a path through a bending lumen (optionally asdefined by a guidewire or the luminal wall) in response to axialinsertion. Both pushability and trackability can vary with a number ofdifferent characteristics of the catheter structure (both oftenimproving with increased outer lubricity, for example), but in at leastsome circumstances they may contradict each other. For example,pushability may be enhanced by increasing an axial stiffness of at leastan axial segment of a catheter, while trackability may be enhanced bydecreasing that axial stiffness. The fluid articulated cathetersdescribed herein may help overcome this challenge for a particular bodylumen, because the axial stiffness of the catheter segments can beindependently varied by varying balloon pressure, optionally withoutapplying pressure so as to impose lateral bends in any particulardirection (absent environmental forces against the catheter).

In one example, good overall pushability and trackability of thecatheter may benefit from a catheter structure with high lateralflexibility (low stiffness) along a distal catheter segment, and arelatively high stiffness (low flexibility) along an intermediate andproximal catheter segments. As the catheter advances distally,trackability may benefit from increasing the flexibility of the distalsegment, while pushability and trackability may overall benefit bydecreasing the stiffness of proximal segment (as it approaches orreaches a bend), and increasing the stiffness of the intermediatesegment (as it leaves the bend and/or extends along a straight section.Catheter segments approaching or along greater curvature may be madeless stiff (often by partial balloon inflation, or by partial deflationof opposed balloons), and so that catheter segments approaching or alongstraighter path portions are more stiff (such as by compete deflation orinflation of the balloons of those segments, or by increasing inflationpressure of opposed balloons).

Referring now to FIGS. 36A-38B, a number of modifications are shown tothe inner and outer helical frame structures described above, along withsome associated components that may help maintain component alignmentwithin the catheter assemblies. As shown in FIGS. 36A and 36B, radialcuts 1970 or slots may be made in the web of an inner helical frame1972, with the cuts optionally extending axially and being formed atthree locations separated by about 120 degrees about the frame axis, sothat the cuts can be positioned between balloons of the assembly. Thecuts may extend through the web between flanges, and optionally along anadjacent inner radial portion of the flanges. Sliding adjacent theopposed cut surfaces may facilitate local axial translation ofarc-segments of the inner frame between cuts in response to balloonactuation, and thereby enhance axial bending and/or elongation of theoverall catheter frame.

Referring now to FIGS. 37A-37G, alternative inner and outer helicalframe structures 1974, 1978, respectively, both have open regions 1976that can be formed, for example, by cutting and removing material fromthe webs and adjacent flanges of each loop in 3 places, spaced about 120degrees apart, with the openings ideally being axially aligned withopenings on adjacent loops. The openings may have a circumferentialwidth in a range from about 0.005″ to about 0.030″, and may extendradially along the adjacent flanges for a distance in a range from about0.010″ to about 0.030.″ Flexing of the flanges adjacent the openings mayfacilitate local axial translation of the helical frame segments betweenopenings, and hence axial bending and/or elongation of the overallframe. The radial openings in the frames may also be used to helppromote axial alignment of balloon subsets. More generally, it may beadvantageous to have structures or features disposed along the helicalframes described herein to help promote axial alignment of subsets ofballoons, such as sets 1980 a, 1980 b, 1980 c. Discrete features may beaffixed to some or all of the loops (such as by additive manufacturingor 3-D printing onto the extruded frame structures) with the featureshaving surfaces that are disposed between and will engage against theends of some or all of the balloons. Alternatively, an inner and/orouter sheath 1984, 1986 may have a radially protruding surface that canextend radially through the openings 1976 in the inner frame 1974, outerframe 1978, or both. The extending of openings 1976 along the web and aradial portion of the flange may allow the protruding surfaces of thesheath(s) to extend continuously between frame arc segments, keeping theframe segments in axial alignment. Similarly, the protruding surfacesmay engage any balloon ends if they begin to move out of alignment withtheir subset. Note that one or more protruding feature in one of thesheaths may be sufficient, and that the balloons may be angled on theballoon assemblies so as to promote axial movement of the frame segmentsand/or provide axially oriented ends that more evenly engage theprotruding radial alignment surfaces of the sheath(s). Optionally, thepitch angles of the flanges may vary circumferentially, for example,with the flanges along the cut sections having a greater pitch angle(measured from a lateral plane) than the flanges between cuts. Theballoons being disposed at an angle along the multi-lumen shaft may helplimit circumferential loads to the frames while enhancing axial loadsagainst the flanges.

Referring now to FIGS. 38A and 38B, a still further alternative helicalinner frame structure 1990 may have edge channels or cuts 1992. By, forexample, cutting and removing material from the flanges and adjacentwebs in 3 places on each loop (120 degrees apart), flexibility of theframe may be greatly enhanced. The removed material may have acircumferential width at the flange/web junction of 0.005-0.030″, andmay extend radially along the full radial length of the flanges. Flexingof the web by balloons disposed between removed flange regions mayfacilitate local axial translation of frame segmetns between flanges andaxial bending of overall frame. Shape of material removed from web maybe “V” (with straight cuts, as shown), “C” (with curved cuts, optionallybeing drilled), “U” (with straight and curved cuts), or the like.

Referring now to FIGS. 39A-39D, alternative ring frame structures 1402,1404 include axial openings in the flanges of the inner and outer framerings (in FIG. 39B), and optional slots traversing the web of the inneror outer frame between openings (see FIG. 39C). A helical balloon coilhas a series of balloons formed using a continuous balloon tube sealedover a multi-lumen shaft as described above, with the assembly herehaving helical coils formed from perpendicular (or near perpendicular)loops connected together by axially angled sections between loops. Theballoons along each loop may be mounted so that the group is at an anglerelative to the multi-lumen shaft so that the balloons may remaincircumferentially aligned between a pair of flanges while the shaftangles slightly axially. Regardless, the balloon assembly can be wrappedaround the frames and the frames assembled together using the axialapertures. Hence, the helical balloon assemblies described herein can beassembled with the ring frame structures as well as the helical frames.Optionally, an inner or outer sheath 1406 may have a radial protrusionthat can extend into the slot in the ring frames to maintain axialalignment of the ring frames and balloons. A channel in the radialprotrusion may also accommodate a multi-lumen shaft that can be used toarticulate a more distal segment, as shown in FIG. 39D.

Referring now to FIGS. 40A-40D, a still further alternative framestructure 1410 makes use of a helical frame that can accommodate thehelical balloon assemblies described herein, in which the loops of theframe may be bonded to each other (or otherwise held together) duringarticulation. As can be understood with reference to FIG. 40A, asurfaced model of a soft polymer helical base is shown. The base may beextruded or molded in sections and bonded or otherwise affixed together.A clear model of the helical base in FIG. 40B shows a helical channelformed between adjacent loops that can receive multi-lumen shaft/balloonassembly. As can be understood with reference to FIG. 40C, two opposedlateral cuts can be made in the coil (the cuts shown here as boxescontaining material to remove). Each cut can receives a balloon of theballoon assembly, and each balloon pushes the axial surfaces of thecoiled frame adjacent the cut apart when the balloon is inflated. Theballoons of the opposed cuts act in opposition about the helical axis toprovide +X/−X bending. As can be understood with reference to FIG. 40D,additional +Y/−Y lateral cuts may similarly each receive a balloon,allowing transverse bending. The frame loops, cuts and balloons can berepeated along the helical axis, with the +X balloons being on onecommon lumen of the multi-lumen shaft, the −X balloons on another, etc.When adjacent loops of the helical frame are affixed together, thisassembly may be well-suited to provide X/Y lateral articulation.

Referring now to FIGS. 41A-41F, the helical articulated structures maytake advantage of a coupling between axial elongation and twist so as toprovide control over the orientation of the distal end of catheters andother elongate flexible bodies, optionally by including helicalstructures with opposed wind orientations. First addressing theelongation/axial twist coupling, a helical structure is shownschematically as a simple coil 1420 in FIGS. 41A and 41B, but mayrepresent any of the inner and/or outer helical frames shown herein, thehelical multi-lumen shafts and/or balloons assemblies, or the like. Coil1420 has a proximal end 1422 and a distal end 1446 with an axistherebetween. The distal end has a rotation orientation about the axis,and an initial number of loops of the helical structure are disposedalong the coil between the ends. As coil 1420 elongates (either byballoons or other actuators pushing the loops apart, or by environmentalforces acting on the coil), distal end 1444 will tend to unwind or twistrelative to proximal end 1442 in a direction so as to decrease thenumber of loops along the helical coil (at least fractionally).Shortening of the coil reverses the unwinding. Additionally, as can beunderstood with reference to FIGS. 41C and 41D, another helical coil1430 that is wound with the reverse orientation as the first coil 1420will unwind similarly, but in the opposition twist direction. Hence, ifthe two coils 1420, 1430 are affixed together axially with the distalend of the first coil 1444 attached to the proximal end 1444′ of thereverse-wound second coil, when the two coils axially elongate in unisonby the same amount, the twists cancel each other out, and the distal endof the second coil 1444″ remains at the same rotational orientationabout the axis throughout any elongation and/or contraction. Thestructures described herein can take advantage of this by separating thehelical structures of an articulated segment into first and secondregions, with the two regions having opposed wind orientations. This canbe used to help inhibit twisting during elongation of a segment thatwill be articulated as a unit, i.e., where the balloons or otheractuators along the segment (for at least one articulation orientation)are functionally coupled together to be inflated as a subset (such asbeing in fluid communication with a common lumen of a multi-lumenshaft).

Referring now to FIGS. 41E and 41F, by differentially articulating (andspecifically, differentially elongating) the reverse-wound coil regionsit is possible to make use of the elongation/twist coupling of helicalstructures to provide additional control over the rotational orientationof the distal end of an assembly about the axis relative to the proximalend. In the relatively simple embodiment shown the combined length ofthe two coils may be kept constant (for example, by logic of thecontroller in response to a twist command, or by affixing an axialstructure of the assembly that to both ends, and/or by couplingelongation balloons of one region to shortening balloons of the other,or the like). If the proximal coil portion starts in a relatively shortconfiguration and elongates, the distal end of that coil will tend tounwind or twist in the first direction. As the distal coil has a reversewind orientation and starts long, it will simultaneously tend to wind,twisting in the same first direction. The two coil regions 1420, 1430are coupled together, so that the distal end of the second coil rotateswith the combined twisting of both regions. As can be further understoodwith reference to FIGS. 41A-41F, by independently articulating the tworegions, the combined length and rotational orientation of the distalend of the distal segment can be independently controlled (within arange of motion), so that the twist can be used as a degree of freedomof the system for aligning tools (such as asymmetric prosthetic heartvalves) with target tissues or other structures. Advantageously, thisindependent twist and elongation may optionally be further combined withlateral bending DOFS of one or both segments, allowing two 3-DOFreverse-wound segments to have additional dexterity.

Referring now to FIGS. 42A-42D, exemplary manifold components andassemblies can be seen. As described above, when using manifold 1450, anN2O canister provides pressurized fluid to articulate a catheter coupledto a receptacle 1452 of the manifold. As was also described above, thecanister here pressurizes a plenum 1454 to a controlled pressure. Adiaphragm 1456 within the manifold separates the N2O (primarily a gas inthe plenum) from a liquid such as saline, pressurizing the saline sothat it can inflate the balloons. A latchable syringe 1458 can becoupled to a port of the exhaust header, providing a simple vacuumsource or exhaust plenum that can be used to draw fluid from thechannels of the manifold and catheter, and from the balloons, includingfor removing gas from the balloons and multi-lumen channels inpreparation for use of the system. As described above, and inflationheader channel directs inflation fluid (often liquid) from the plenumtoward the inflation valves, which help control fluid flow to theballoons. Optionally, a gas valve may couple the N2O side of thediaphragm within the plenum to the inflation header, facilitatingremoval of fluid after use and/or allowing gas (or controlled mixturesof gas and liquid) to be introduced. Hence, the system may control flowsof gas (from a first source or plenum region), liquid (from a secondsource or plenum region), and/or deflation fluid (to the atmosphere or avacuum source). The fluid network channels to/from the balloon inflationand deflation valves 1460 are largely formed along a surface of a valveplate 1462, Flows between the canister and the plenum are controlled byhigh-pressure valves 1464. The surface of the valve plate 1462 oppositethe receptacle 1452 may be recessed below the valve engaging edges so asto limit a volume of pressure sensing channels extending between theballoon inflation channels and a pressure sensing array 1466.

While the exemplary embodiment have been described in some detail forclarity of understanding and by way of example, a variety ofmodifications, changes, and adaptations of the structures and methodsdescribed herein will be obvious to those of skill in the art. Hence,the scope of the present invention is limited solely by the claimsattached hereto.

What is claimed is:
 1. A catheter system comprising: an elongatecatheter body having a proximal end and a distal end and defining anaxis therebetween, the catheter body having an articulated portionadjacent the distal end; a proximal housing coupleable with the proximalend of the catheter body, the proximal housing sized for movement by ahand of a user and supporting: an articulation drive system configuredto effect articulation of the articulated portion; a processor coupledto the drive system so as to transmit drive signals thereto in responseto commands input by the user; and a battery coupled to the processorand to a charge receiving coupler; and a base station having areceptacle configured to receive the housing, the base station having acharge providing coupler positioned so as to couple with the chargereceiving coupler when the housing is in the receptacle; wherein thedrive system comprises a plurality of fluid expandable bodies andfurther comprising a plurality of pressure sensors in communication withthe fluid expandable bodies, a source of pressurized fluid, and aplurality of valves between the fluid source and the expandable bodies,wherein the processor is coupled with the valves and configured toinduce movement of the catheter body toward a new position in responseto the commands input by a system user, and wherein the processorcomprises a closed loop valve controller configured to actuate thevalves and provide desired pressures in the expandable bodies; andwherein the processor comprises a module configured to determine adesired state of the body, an inverse kinematics module configured todetermine a desired joint state, a module configured to determine adifference between an actual joint state and the desired joint state soas to define a joint error, and a joint trajectory planner, wherein thetrajectory planner defines a joint error trajectory in response to thedesired joint state and the joint error, and wherein the jointtrajectory is transmitted to an inverse fluidic calculator to determinecommand signals for the valves.
 2. The catheter system of claim 1,wherein the charge receiving coupler comprises an inductive chargereceiving coupler, and wherein the charge providing coupler comprises aninductive charge providing coupler, and further comprising a sterilebarrier configured for maintaining sterile separation between the basestation and the proximal housing when the housing is in the receptacle;and wherein the base station further comprises a server including afirst wireless communication module, and wherein the proximal housingcontains a second wireless communication module configured tocommunicate with the first wireless communication module so as totransmit data.
 3. The catheter system of claim 1, wherein the basestation further comprises a server coupleable with a network, theprocessor of the proximal housing coupleable with the server so as totransmit data between the network and the processor, wherein thecatheter has an ID tag embodying machine-readable catheter identitydata, wherein the processor of the housing transmits ID data, inresponse to the catheter identity data of the tag, to the server whenthe server is coupled with a processor of the base station, wherein theserver obtains approval data from the network, and wherein the processorinhibits use of the catheter absent the approval data.
 4. The cathetersystem of claim 1, wherein the articulated portion comprises an array ofarticulation balloons.
 5. The catheter system of claim 1, wherein thefluid expandable bodies comprise piston assemblies.
 6. An articulatablestructure comprising: an elongate flexible body having a proximal endand a distal end with an axis therebetween; and an array of actuatorsmounted along the body so as to articulate the body; wherein theactuators comprise fluid expandable bodies and further comprising aplurality of pressure sensors in communication with the fluid expandablebodies, a source of pressurized fluid, and a plurality of valves betweenthe fluid source and the expandable bodies, wherein a processor iscoupled with the valves and configured to induce movement of the bodytoward a new position in response to a command input by a system user,and wherein the processor comprises a closed loop valve controllerconfigured to actuate the valves and provide desired pressures in theexpandable bodies; and wherein the processor comprises a moduleconfigured to determine a desired state of the body, an inversekinematics module configured to determine a desired joint state, amodule configured to determine a difference between an actual jointstate and the desired joint state so as to define a joint error, and ajoint trajectory planner, wherein the trajectory planner defines a jointerror trajectory in response to the desired joint state and the jointerror, and wherein the joint trajectory is transmitted to an inversefluidic calculator to determine command signals for the valves.
 7. Thestructure of claim 6, wherein the body comprises a helical frame havinga proximal flange and a distal flange with an axial wall extendingtherebetween, wherein the actuators urge the flanges axially so as tolocally deflect the axis, and wherein the frame has openings in theaxial wall circumferentially between the actuators so as to enhancelateral flexibility of the frame.
 8. The structure of claim 6, whereinthe body has an ID tag embodying machine-readable data, and furthercomprising a processor coupled with the actuators so as to transmitdrive signals thereto, the processor configured for coupling with aserver in communication with a network so as to transmit ID data.
 9. Thestructure of claim 6, further comprising a feedback system configured tosense an actual position or state of the body using a sensor, the sensorcomprising an electromagnetic navigation system, an ultrasoundnavigation system, an image processor coupled to a 3D image acquisitionsystem, an optical fiber shape sensor, or an electrical shape sensor.10. An articulatable structure comprising: an elongate flexible bodyhaving a proximal end and a distal end with an axis therebetween; anarray of actuators mounted along the body so as to articulate the body;a manifold for articulating the elongate body, the array of actuatorscomprising an array of articulation balloons, the manifold comprising: aliquid inflation fluid source; a gas inflation fluid source; and aprocessor coupled with the fluid sources, wherein in use, at least onefluid channel of the structure contains gas inflation fluid and liquidinflation fluid, and wherein the processor is configured to alterrelative amounts of the gas inflation fluid and liquid inflation fluidin the channel in response to a command to change a compliance of asubset of the balloons in communication with the channel.
 11. Anarticulatable structure comprising: an elongate flexible body having aproximal end and a distal end with an axis therebetween; an array ofactuators mounted along the body so as to articulate the body; amanifold for articulating the elongate body, the body having an array ofarticulation balloons, the manifold comprising: a receptacle configuredto receive a canister having a first inflation fluid; a deformablediaphragm having a first side and a second side, wherein in use, thefirst side is in fluid communication with the first inflation fluid andthe second side is in fluid communication with a second inflation fluid;and a valve coupling the canister to the first side of the diaphragm soas to control a pressure of the first and second inflation fluids;wherein the second side of the diaphragm is in fluid communication withthe balloons to selectively inflate the balloons with the secondinflation fluid.
 12. The structure of claim 11, wherein the bodycomprises a catheter body, and wherein the first inflation fluidcomprises a gas and the second inflation fluid comprises a liquid.
 13. Aheart valve therapy system for structurally altering a valve of a heartin a patient body, the therapy system comprising: an elongate flexiblecardiac catheter body having a proximal end and a distal end with anaxis therebetween; a therapeutic valve tool mounted near the distal endof the catheter body; the catheter body having an articulated portionadjacent the distal end; and an articulation drive system configured toeffect articulation of the articulated portion; wherein the drive systemcomprises a plurality of fluid expandable bodies and further comprisinga source of pressurized fluid and a plurality of valves between thefluid source and the expandable bodies, wherein the processor is coupledwith the valves and configured to induce movement of the catheter bodytoward a new position in response to the commands input by a systemuser; and wherein the processor comprises a module configured todetermine a desired state of the body, an inverse kinematics moduleconfigured to determine a desired joint state, and a module configuredto determine a difference between an actual joint state and the desiredjoint state so as to define a joint error, and wherein the processor isconfigured to transmit command signals to the valves in response to thejoint error.
 14. The therapy system of claim 13, wherein the toolcomprises a valve leaflet plication clip.
 15. The therapy system ofclaim 13, wherein the tool comprises an annuloplasty ring.
 16. Thetherapy system of claim 13, wherein the tool comprises an annularplication tool.
 17. The therapy system of claim 13, further comprising aplurality of pressure sensors in communication with the fluid expandablebodies, wherein the processor comprises a closed loop valve controllerconfigured to actuate the valves and provide desired pressures in theexpandable bodies.
 18. The therapy system of claim 17, wherein theprocessor comprises a joint trajectory planner, wherein the trajectoryplanner defines a joint error trajectory in response to the desiredjoint state and the joint error, and wherein the joint trajectory istransmitted to an inverse fluidic calculator to determine the commandsignals for the valves.
 19. The therapy system of claim 13, wherein thepressure source comprises a canister of liquid, the liquid configured tovaporize to a gas so as to pressurize the manifold.
 20. The therapysystem of claim 13, wherein the fluid expandable bodies comprise pistonassemblies.